JP7714376B2 - Control device for human-powered vehicles - Google Patents

Description

This disclosure 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 controls an electrically adjustable seat post.

Japanese Patent Application Laid-Open No. 2019-014431

The control device for a human-powered vehicle in Patent Document 1 controls an electrically adjustable seat post in accordance with an operation input to an operating unit, but does not take into consideration any conditions other than the operation input to the operating unit.
An object of the present disclosure is to provide a control device for a human-powered vehicle that can suitably control an electrically adjustable seat post depending on the road on which the human-powered vehicle is traveling.

A control device according to a first aspect of the present disclosure is a control device for a human-powered vehicle, and includes a control unit configured to control an electrically adjustable seat post of the human-powered vehicle, the electrically adjustable seat post being configured to be able to control the height of the seat post of the human-powered vehicle, and the control unit being configured to acquire forward information about a travel path from a detection unit, acquire an estimated travel path along which the human-powered vehicle will travel in the future based on the forward information, and control the electrically adjustable seat post based on the estimated travel path.
According to the control device of the first aspect, the electrically adjustable seat post can be suitably controlled in accordance with the estimated route along which the human-powered vehicle will travel in the future.

In the control device of the second aspect according to the first aspect of the present disclosure, the control unit includes a travel path estimation unit that acquires the estimated travel path based on the forward information.
According to the control device of the second aspect, the estimated driving path can be suitably acquired based on the forward image.

In the control device of the third aspect according to the second aspect of the present disclosure, the travel path estimation unit includes an artificial intelligence processing unit.
According to the control device of the third aspect, the estimated driving path can be suitably acquired by the artificial intelligence processing unit.

In the control device of the fourth aspect according to the third aspect of the present disclosure, the artificial intelligence processing unit is configured to identify an object on the driving path based on the forward information, and to obtain the estimated driving path based on the object.
According to the control device of the fourth aspect, the estimated driving path can be suitably acquired by identifying the characteristics of the driving path as the object based on the forward information.

In the control device of the fifth aspect according to the fourth aspect of the present disclosure, the artificial intelligence processing unit is configured to identify a boundary between an area that is the driving path and an area that is not the driving path in the forward information based on the object, and to obtain the estimated driving path based on the boundary.
According to the control device of the fifth aspect, the estimated driving path can be suitably acquired from the boundary between the area that is the driving path and the area that is not the driving path, which is identified based on the forward information.

In the control device of a sixth aspect according to the fourth or fifth aspect of the present disclosure, the artificial intelligence processing unit is configured to estimate the distance between the object and the human-powered vehicle based on the forward information, and the control unit is configured to control the electrically adjustable seat post according to the distance.
According to the control device of the sixth aspect, the electrically adjustable seat post can be suitably controlled in accordance with the distance between the object and the human-powered vehicle.

In the control device of the seventh aspect according to any one of the first to sixth aspects of the present disclosure, the control unit is configured to control the electrically adjustable seat post in accordance with at least one of the inclination of the estimated travel path and the difficulty of travel of the estimated travel path.
According to the control device of the seventh aspect, the electrically adjustable seat post can be suitably controlled in accordance with at least one of the inclination of the estimated travel route and the degree of difficulty of travel.

In the control device of an eighth aspect according to any one of the first to seventh aspects of the present disclosure, the control unit is configured to control the electrically adjustable seat post to change the height depending on the estimated travel path.
According to the control device of the eighth aspect, the height of the seat post can be changed to a height suitable for the estimated travel path.

In the control device of the ninth aspect according to the eighth aspect of the present disclosure, the control unit is configured to control the electrically adjustable seat post to change the height in accordance with the estimated riding path when the rider is not seated on the seat post.
According to the control device of the ninth aspect, when the rider is not seated, the height of the seat post can be changed to a height suitable for the estimated travel path.

In the control device of the tenth aspect according to the eighth or ninth aspect of the present disclosure, the control unit is configured to control the electrically adjustable seat post to change the height when the rider is seated on the seat post and when the amount of lowering of the height according to the estimated riding path is equal to or less than a predetermined amount of lowering.
According to the control device of the tenth aspect, when the rider is seated on the seat post, the amount of lowering of the seat post height can be changed to a predetermined amount or less.

In the control device of an eleventh aspect according to any one of the eighth to tenth aspects of the present disclosure, the control unit is configured to control the electrically adjustable seat post to suppress the change in height when the rider is seated on the seat post and when the amount of lowering of the height according to the estimated riding path is greater than a predetermined amount of lowering.
According to the control device of the eleventh aspect, when the rider is seated on the seat post and the amount of lowering of the height is greater than a predetermined amount, changes in the height of the seat post are suppressed, so that the rider is less likely to feel uncomfortable.

In the control device of aspect 12 according to any one of aspects 8 to 11 of the present disclosure, the control unit is configured to control the notification unit so that, when controlling the electrically adjustable seat post to change the height in accordance with the estimated driving path, the notification unit notifies information regarding the height.
The control device of the twelfth aspect allows the rider to know when the height of the seat post has been changed.

In the control device of a thirteenth aspect according to any one of the eighth to twelfth aspects of the present disclosure, the control unit is configured to control the electrically adjustable seatpost so that the height becomes a first predetermined height when controlling the electrically adjustable seatpost to change the height in accordance with the estimated driving path.
According to the control device of the thirteenth aspect, the height of the seat post can be set to the first predetermined height.

In the control device of the fourteenth aspect according to the thirteenth aspect of the present disclosure, the first predetermined height includes a second predetermined height, a third predetermined height lower than the second predetermined height, and a fourth predetermined height lower than the third predetermined height, and the control unit is configured to control the electrically adjustable seat post so that the height becomes one of the second predetermined height, the third predetermined height, and the fourth predetermined height in accordance with first driving information relating to at least one of the driving state of the human-powered vehicle and the driving environment of the human-powered vehicle.
According to the control device of the fourteenth aspect, the height of the seat post can be suitably changed in accordance with the first riding information.

In the control device of the fifteenth aspect according to the fourteenth aspect of the present disclosure, a first memory unit that stores the third predetermined height is further provided, and the third predetermined height stored in the first memory unit is changeable.
According to the control device of the fifteenth aspect, the third predetermined height can be changed to a height suitable for the rider.

In the control device of aspect 16 according to any one of aspects 8 to 15 of the present disclosure, the control unit is configured to control the electrically adjustable seat post to change the height in accordance with the estimated travel path when the operating unit is operated.
According to the control device of the sixteenth aspect, the height of the seat post can be changed at a timing desired by the rider.

In the control device of the seventeenth aspect according to the sixteenth aspect of the present disclosure, the control unit is configured to control the electrically adjustable seatpost when the operating unit is operated so that the height corresponds to the amount of operation of the operating unit, and is configured to perform control of the electrically adjustable seatpost according to the estimated driving path.
According to the control device of the seventeenth aspect, when the operating unit is operated, the height of the seat post can be changed to a height desired by the rider in accordance with the estimated traveling route.

In the control device of aspect 18 according to aspect 16 or 17 of the present disclosure, the control unit is configured to control the electrically adjustable seat post so that the height becomes a height corresponding to the estimated driving path when the operating unit is operated.
According to the control device of the eighteenth aspect, the height of the seat post can be changed to a height that corresponds to the estimated traveling path at a timing desired by the rider.

In the control device of the 19th aspect according to the 18th aspect of the present disclosure, the control unit is configured to control the electrically adjustable seat post when the operating unit is operated so that the height becomes a height corresponding to the estimated driving path, regardless of the amount of operation of the operating unit.
According to the control device of the nineteenth aspect, the height of the seat post can be changed to a height that corresponds to the estimated traveling path, regardless of the amount of operation of the operating unit by the rider. Therefore, the height of the seat post can be changed to a height that corresponds to the estimated traveling path simply by the rider operating the operating unit.

In the control device of the twentieth aspect according to the thirteenth aspect of the present disclosure, a second memory unit is further provided that stores historical information regarding a history of changes to the height, and the control unit is configured to control the electrically adjustable seat post so that the height becomes the first predetermined height in accordance with the estimated travel path and the historical information.
According to the control device of the twentieth aspect, the height of the seat post can be changed to the first predetermined height in accordance with the estimated travel path and the change history.

In the control device of the 21st aspect according to the 20th aspect of the present disclosure, the second memory unit is configured to store the history information in association with second driving information relating to at least one of the driving state of the human-powered vehicle and the driving environment of the human-powered vehicle, and the control unit is configured to be able to change the first predetermined height depending on the estimated driving path, the history information, and the second driving information.
According to the control device of the twenty-first aspect, the first predetermined height can be suitably changed in accordance with the estimated travel path, the history information, and the second travel information.

In the control device of the twenty-second aspect according to any one of the first to twenty-first aspects of the present disclosure, the detection unit includes an imaging device, and the forward information includes a forward image acquired by the imaging device.
According to the control device of the twenty-second aspect, the estimated driving path can be suitably acquired from the forward image.

In the control device of a twenty-third aspect according to any one of the first to twenty-second aspects of the present disclosure, the detection unit includes a laser device, and the forward information includes obstacle information acquired by the laser device.
According to the control device of the twenty-third aspect, the estimated driving path can be suitably acquired from the obstacle information.

In a control device of a 24th aspect according to any one of the first to 23rd aspects of the present disclosure, the detection unit includes a position information detection unit, and the forward information includes map information of the driving path acquired by the position information detection unit.
According to the control device of the twenty-fourth aspect, the estimated driving route can be suitably acquired from map information.

The control device disclosed herein allows for optimal control of the electrically adjustable seat post depending on the road on which the human-powered vehicle is traveling.

1 is a side view of a human-powered vehicle including a control device for a human-powered vehicle according to a first embodiment. Schematic diagram of the electrically adjustable seatpost in Figure 1. FIG. 2 is a block diagram showing the electrical configuration of the human-powered vehicle including the control device for the human-powered vehicle of FIG. 1 . FIG. 4 is a schematic diagram of a learning model included in the artificial intelligence processing unit of FIG. 3 . FIG. 4 is a schematic diagram showing a first example of a forward image processed by the artificial intelligence processing unit of FIG. 3 ; FIG. 4 is a schematic diagram showing a second example of a forward image processed by the artificial intelligence processing unit of FIG. 3 . FIG. 4 is a schematic diagram showing a third example of a forward image processed by the artificial intelligence processing unit of FIG. 3 . 4 is a flowchart of a process executed by the control unit of FIG. 3 to estimate an estimated driving path. 4 is a flowchart of a process executed by the control unit of FIG. 3 to control the electrically adjustable seat post so as to change the height of the seat post in accordance with the estimated traveling path. FIG. 10 is a block diagram showing the electrical configuration of a human-powered vehicle including a control device for a human-powered vehicle according to a second embodiment. 11 is a flowchart of a process executed by the control unit of FIG. 10 to control the electrically adjustable seat post so as to change the height of the seat post in accordance with the estimated traveling route. 11 is a flowchart of a process executed by the control unit of the third embodiment to control the electrically adjustable seat post so as to change the height of the seat post when the operating unit is operated. 10 is a flowchart of a process executed by the control unit of the fourth embodiment to control the electrically adjustable seat post so as to change the height of the seat post when the operating unit is operated. 10 is a flowchart of a process executed by a control unit of a modified example to control an electrically adjustable seat post so as to change the height of the seat post in accordance with an estimated traveling path.

First Embodiment
A control device 60 for a human-powered vehicle according to a first embodiment will be described with reference to FIGS. 1 to 9 . A human-powered vehicle is a vehicle that has at least one wheel and can be propelled at least by human driving force. Human-powered vehicles include various types of bicycles, such as mountain bikes, road bikes, city bikes, cargo bikes, hand bikes, and recumbent bikes. The number of wheels a human-powered vehicle has is not limited. Human-powered vehicles also include, for example, unicycles and vehicles with three or more wheels. Human-powered vehicles are not limited to vehicles that can be propelled solely by human driving force. Human-powered vehicles include e-bikes, which use not only human driving force but also the driving force of an electric motor for propulsion. E-bikes include electrically assisted bicycles, the propulsion of which is assisted by an electric motor. In the following embodiments, the human-powered vehicle will be described as a mountain bike.

The human-powered vehicle 10 has at least one wheel 14 and a body 16. The at least one wheel 14 includes a rear wheel 14A and a front wheel 14B. The body 16 includes a frame 18. The body 16 is provided with an input rotation shaft 12A that is rotatable relative to the frame 18. In this embodiment, the input rotation shaft 12A is a crankshaft included in the crank 12. The crank 12 includes the input rotation shaft 12A, a first crank arm 12B provided at one axial end of the input rotation shaft 12A, and a second crank arm 12C provided at the other axial end of the input rotation shaft 12A. Pedals 20 are connected to the crank 12. The pedals 20 include a first pedal 20A and a second pedal 20B. The first pedal 20A is connected to the first crank arm 12B. The second pedal 20B is connected to the second crank arm 12C. The rear wheel 14A is driven by the rotation of the crank 12. The rear wheel 14A is supported by the frame 18. The crank 12 is connected to the rear wheel 14A by a drive mechanism 22.

The drive mechanism 22 includes a first rotor 24 connected to the input rotary shaft 12A. The input rotary shaft 12A may be connected to the first rotor 24 so as to rotate integrally with it, or may be connected via a first one-way clutch. The first one-way clutch is configured to rotate the first rotor 24 forward when the crank 12 rotates forward, and to allow relative rotation between the crank 12 and the first rotor 24 when the crank 12 rotates backward. The first rotor 24 includes a front sprocket. The first rotor 24 may include a pulley or a bevel gear. The drive mechanism 22 further includes a second rotor 26 and a connecting member 28. The connecting member 28 transmits the rotational force of the first rotor 24 to the second rotor 26. The connecting member 28 includes, for example, a chain, belt, or shaft.

The second rotating body 26 is connected to the rear wheel 14A. The second rotating body 26 includes a rear sprocket. The second rotating body 26 may also include a pulley or a bevel gear. A second one-way clutch is preferably provided between the second rotating body 26 and the rear wheel 14A. The second one-way clutch is configured to rotate the rear wheel 14A forward when the second rotating body 26 rotates forward, and to allow relative rotation between the second rotating body 26 and the rear wheel 14A when the second rotating body 26 rotates backward.

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

For example, the human-powered vehicle 10 further includes a battery 36. The battery 36 includes one or more battery elements. The battery elements include rechargeable batteries. The battery 36 is configured to supply power to the control device 60. The battery 36 is preferably communicatively connected to the control unit 62 of the control device 60 via an electrical cable or a wireless communication device. The battery 36 can communicate with the control unit 62 via, for example, power line communication (PLC), a controller area network (CAN), or a universal asynchronous receiver/transmitter (UART).

The human-powered vehicle 10 includes an electrically adjustable seat post 38. The electrically adjustable seat post 38 is configured to be able to control the height of the seat post 40 of the human-powered vehicle 10.

As shown in FIG. 2, for example, the electrically adjustable seatpost 38 includes a seatpost 40. The seatpost 40 is attached to the frame 18. A saddle 42 is attached to the seatpost 40. The electrically adjustable seatpost 38 raises and lowers the seatpost 40 relative to the frame 18.

For example, the seat post 40 includes a first portion 40A and a second portion 40B. For example, one of the first portion 40A and the second portion 40B is attached to the frame 18. A saddle 42 is attached to the other of the first portion 40A and the second portion 40B. The first portion 40A and the second portion 40B are each formed in a tubular shape. One of the first portion 40A and the second portion 40B is fitted into the other of the first portion 40A and the second portion 40B. The seat post 40 extends and retracts as one of the first portion 40A and the second portion 40B moves relative to the other of the first portion 40A and the second portion 40B. The extension and contraction of the seat post 40 changes the height of the seat post 40. The height of the seat post 40 corresponds to, for example, the length of extension of the seat post 40 from the most retracted state in which one of the first and second portions 40A and 40B is in the most inserted position into the other of the first and second portions 40A and 40B. The height of the seat post 40 may also correspond to, for example, the length of the portion of the seat post 40 that is exposed from the frame 18.

For example, the electrically adjustable seatpost 38 includes an electric actuator or an electric motor. The electrically adjustable seatpost 38 includes an electric seatpost that expands and contracts using the force of an electric motor, or a mechanical seatpost. A mechanical seatpost expands using the force of at least one of a spring and air. A mechanical seatpost is configured to contract when a load is applied to the saddle 42. The mechanical seatpost includes a hydraulic seatpost or a pneumatic seatpost. If the electrically adjustable seatpost 38 is an electric seatpost, the control unit of the electrically adjustable seatpost 38 operates the electric actuator or electric motor to expand and contract the seatpost 40 upon receiving an operation command. If the electrically adjustable seatpost 38 is an electric seatpost, the seatpost 40 is raised and lowered using separate operation commands. If the electrically adjustable seatpost 38 is a mechanical seatpost, the control unit of the electrically adjustable seatpost 38 controls a valve that opens and closes an oil or air flow path. If the electrically adjustable seatpost 38 is a mechanical seatpost, the control unit of the electrically adjustable seatpost 38 operates an electric actuator or electric motor to open the valve when it receives an operation command. When the valve is open, the electrically adjustable seatpost 38 attempts to extend using the force of at least one of a spring and air. When the valve is closed, the length of the electrically adjustable seatpost 38 does not change. If the electrically adjustable seatpost 38 is a mechanical seatpost, the control unit of the electrically adjustable seatpost 38 may be configured to open the valve for a predetermined period of time when it receives an operation command. If the electrically adjustable seatpost 38 is a mechanical seatpost, the control unit of the electrically adjustable seatpost 38 may be configured to keep the valve open when it receives an operation command until it receives the next operation command.

For example, the electrically adjustable seat post 38 is configured to either change the height of the seat post 40 or not, depending on the load on the saddle 42. The state in which the saddle 42 is loaded includes, for example, a state in which the rider is seated on the seat post 40. The state in which the saddle 42 is not loaded includes, for example, a state in which the rider is not seated on the seat post 40.

For example, the electrically adjustable seatpost 38 is configured so that the height of the seatpost 40 can be lowered when a load is applied to the saddle 42. For example, the electrically adjustable seatpost 38 is configured so that the height of the seatpost 40 cannot be lowered when no load is applied to the saddle 42. For example, the electrically adjustable seatpost 38 is configured so that the height of the seatpost 40 can be increased when a load equal to or greater than a predetermined load is applied to the saddle 42. For example, the electrically adjustable seatpost 38 is configured so that the height of the seatpost 40 cannot be increased when a load equal to or greater than a predetermined load is applied to the saddle 42. For example, if the electrically adjustable seatpost 38 is an electric seatpost, the predetermined load at which the height of the seatpost 40 cannot be increased is determined according to the maximum output of the electric motor.

If the electrically adjustable seatpost 38 is a hydraulic or pneumatic seatpost, for example, the electrically adjustable seatpost 38 is configured so that the height of the seatpost 40 can be lowered when a load is applied to the saddle 42. If the electrically adjustable seatpost 38 is a hydraulic or pneumatic seatpost, for example, the electrically adjustable seatpost 38 is configured so that the height of the seatpost 40 cannot be lowered when no load is applied to the saddle 42. If the electrically adjustable seatpost 38 is a hydraulic or pneumatic seatpost, for example, the electrically adjustable seatpost 38 is configured so that the height of the seatpost 40 can be increased when a load of more than a predetermined load is applied to the saddle 42. If the electrically adjustable seatpost 38 is a hydraulic or pneumatic seatpost, for example, the electrically adjustable seatpost 38 is configured so that the height of the seatpost 40 cannot be increased when a load of more than a predetermined load is applied to the saddle 42.

If the electrically adjustable seatpost 38 is an electric seatpost, the height of the seatpost 40 can be changed to any height by driving an electric actuator or electric motor. In this embodiment, the electrically adjustable seatpost 38 will be described as an electric seatpost.

For example, the human-powered vehicle 10 includes an alarm unit 44. The alarm unit 44 is configured to provide alarm information related to at least one of the driving state of the human-powered vehicle 10 and the driving environment of the human-powered vehicle 10. For example, the alarm unit 44 outputs the alarm information using at least one of light, sound, and vibration. For example, the alarm unit 44 includes at least one of a display unit, a sound unit, and a vibration unit. For example, the display unit included in the alarm unit 44 includes a liquid crystal display panel or an organic EL (Electro-Luminescence) panel. For example, the display unit outputs various types of alarm information by displaying letters, numbers, symbols, patterns, images, icons, etc. For example, the display unit may output various types of alarm information by lighting patterns of light-emitting elements. An example of a light-emitting element is an LED (Light Emitting Diode) lamp. For example, the sound unit included in the alarm unit 44 includes a speaker or a buzzer. For example, the sound output unit outputs various types of notification information using voice, melody, beeps, etc. For example, the vibration unit included in the notification unit 44 outputs various types of notification information using, for example, vibration patterns. The notification unit 44 may include at least one of a cycle computer and a smartphone. The notification unit 44 is provided on the handlebars 34 of the human-powered vehicle 10, the stem 32 of the human-powered vehicle 10, or the top tube of the frame 18 of the human-powered vehicle 10. The notification unit 44 may also be provided on a helmet, wristwatch, or protector worn by the rider. The notification unit 44 is connected to the control unit 62 via a wireless communication device or an electrical cable.

For example, the human-powered vehicle 10 is provided with a detection unit 46 that can acquire forward information F about the human-powered vehicle 10. When the detection unit 46 is provided on the human-powered vehicle 10, the detection unit 46 is provided, for example, on the frame 18 or the handlebars 34. The detection unit 46 may also be provided on the rider. When the detection unit 46 is provided on the rider, the detection unit 46 may be provided on a helmet worn by the rider. For example, the detection unit 46 is configured to be able to communicate with the control device 60 via at least one of wireless communication and wired communication. The detection unit 46 transmits the detected forward information F to the control device 60. For example, the detection unit 46 includes at least one of an imaging device 46A, a laser device 46B, and a position information detection unit 46C.

If the detection unit 46 includes an imaging device 46A, the forward information F includes a forward image captured by the imaging device 46A. The imaging device 46A includes, for example, a camera. The imaging device 46A may be capable of capturing only an image in front of the human-powered vehicle 10, or may be capable of capturing images of the surrounding area other than the area in front of the human-powered vehicle 10. The imaging device 46A may also be capable of capturing images of the entire periphery around the imaging device 46A.

If the detection unit 46 includes a laser device 46B, the forward information F includes obstacle information acquired by the laser device 46B. For example, the laser device 46B is configured to be able to acquire obstacle information ahead of the human-powered vehicle 10. For example, the laser device 46B transmits a laser ahead of the human-powered vehicle 10. For example, the laser device 46B is configured to be able to acquire obstacle information ahead of the human-powered vehicle 10 by receiving a reflected laser wave. For example, the obstacle information includes information about the slope of the road ahead of the human-powered vehicle 10 and information about obstacles in the road.

If the detection unit 46 includes a position information detection unit 46C, the forward information F includes map information of the driving route acquired by the position information detection unit 46C. For example, the position information detection unit 46C is configured to be able to record map information of the driving route. The position information detection unit 46C may include a GPS (Global Positioning System) receiver and be configured to acquire map information of the driving route corresponding to the current location acquired by the GPS receiver. For example, the map information of the driving route includes information about the driving route and information about the current location of the human-powered vehicle 10.

For example, the human-powered vehicle 10 further includes at least one of a human-powered driving force detection unit 48, a crank rotation sensor 50, a vehicle speed sensor 52, and an inclination sensor 54.

The human-powered driving force detection unit 48 is configured to detect information related to the human-powered driving force. The human-powered driving force detection unit 48 is provided, for example, on the frame 18, crank 12, or pedals 20A, 20B of the human-powered vehicle 10. If the human-powered vehicle 10 is provided with a drive unit, the human-powered driving force detection unit 48 may be provided on the housing of the drive unit. The human-powered driving force detection unit 48 includes, for example, a torque sensor. The torque sensor is configured to output a signal corresponding to the torque applied to the crank 12 by the human-powered driving force. For example, if a first one-way clutch is provided in the power transmission path, the torque sensor is preferably provided upstream of the first one-way clutch in the power transmission path. The torque sensor includes a strain sensor, magnetostrictive sensor, pressure sensor, or the like. The strain sensor includes a strain gauge.

The crank rotation sensor 50 is configured to detect information related to the rotational speed of the input rotary shaft 12A. The crank rotation sensor 50 is mounted, for example, on the frame 18 of the human-powered vehicle 10. If the human-powered vehicle 10 is equipped with a drive unit, the crank rotation sensor 50 may be mounted on the drive unit. The crank rotation sensor 50 may also be mounted on the housing of the drive unit. The crank rotation sensor 50 includes a magnetic sensor that outputs a signal according to the strength of a magnetic field. An annular magnet with its south pole and north pole adjacent in the circumferential direction is mounted on the input rotary shaft 12A, a member that rotates in conjunction with the input rotary shaft 12A, or the power transmission path from the input rotary shaft 12A to the first rotor 24. The member that rotates in conjunction with the input rotary shaft 12A may include the output shaft of a motor.

The vehicle speed sensor 52 is configured to detect information related to the vehicle speed of the human-powered vehicle 10. In this embodiment, the vehicle speed sensor 52 is configured to detect information related to the rotational speed of at least one wheel 14 of the human-powered vehicle 10. The vehicle speed sensor 52 is configured, for example, to detect a magnet provided on at least one wheel 14 of the human-powered vehicle 10. The vehicle speed sensor 52 is configured, for example, to output a detection signal a predetermined number of times during one rotation of one of the at least one wheels 14. The predetermined number is, for example, 1. The vehicle speed sensor 52 outputs a signal corresponding to the rotational speed of the wheel 14. The control unit 62 can calculate the vehicle speed of the human-powered vehicle 10 based on the signal corresponding to the rotational speed of the wheel 14 and information related to the circumference of the wheel 14.

The vehicle speed sensor 52 includes, for example, a magnetic reed that constitutes a reed switch, or a magnetic sensor such as a Hall element. The vehicle speed sensor 52 may be attached to the chain stay of the frame 18 of the human-powered vehicle 10 and configured to detect a magnet attached to the rear wheel 14A, or it may be attached to the front fork 30 and configured to detect a magnet attached to the front wheel 14B.

The vehicle speed sensor 52 may have any configuration as long as it can acquire information related to the vehicle speed of the human-powered vehicle 10. For example, the vehicle speed sensor 52 may be configured to detect slits provided in a disc brake. The vehicle speed sensor 52 may also include an optical sensor, for example. The vehicle speed sensor 52 may also include a GPS receiver, for example. If the vehicle speed sensor 52 includes a GPS receiver, the control unit 62 can calculate the vehicle speed based on the time and traveled distance. The vehicle speed sensor 52 is connected to the control unit 62 via a wireless communication device or an electrical cable.

The tilt sensor 54 is configured to detect information related to the tilt of the human-powered vehicle 10. The tilt sensor 54 includes, for example, a gyro sensor or an acceleration sensor. The tilt sensor 54 also includes a GPS receiver. The control unit 62 may calculate the tilt angle of the road surface on which the human-powered vehicle 10 is traveling based on the GPS information acquired by the GPS receiver and the tilt included in pre-recorded map information.

The control device 60 includes a control unit 62. The control unit 62 includes a processing unit that executes a predetermined control program. The processing unit included in the control unit 62 includes, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The processing units included in the control unit 62 may be provided in multiple locations that are separate from one another. The control unit 62 may include one or more microcomputers.

For example, the control device 60 further includes a memory unit 64. The memory unit 64 stores predetermined control programs and information used in the control processing. The memory unit 64 includes, for example, non-volatile memory and volatile memory. The non-volatile memory includes, for example, at least one of ROM (Read-Only Memory), EPROM (Erasable Programmable Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), and flash memory. The volatile memory includes, for example, RAM (Random Access Memory).

The control unit 62 is configured to control the electrically adjustable seat post 38 of the human-powered vehicle 10. For example, the control unit 62 includes a seat post control unit 68. The seat post control unit 68 controls the electrically adjustable seat post 38. For example, the seat post control unit 68 controls the electrically adjustable seat post 38 so as to change the height of the seat post 40. For example, the seat post control unit 68 sends an operation command to the control unit of the electrically adjustable seat post 38 so as to change the height of the seat post 40. The seat post control unit 68 may be provided in the electrically adjustable seat post 38, or may be provided in a component for the human-powered vehicle other than the electrically adjustable seat post 38.

For example, the control unit 62 controls the electrically adjustable seatpost 38 to change the height of the seatpost 40 to a first predetermined height. The first predetermined height includes a second predetermined height, a third predetermined height lower than the second predetermined height, and a fourth predetermined height lower than the third predetermined height. For example, the second predetermined height is the highest height of the seatpost 40 that can be changed by the electrically adjustable seatpost 38. For example, the third predetermined height is a height that makes it easy for the rider to operate the human-powered vehicle 10. For example, the third predetermined height is a height of the seatpost 40 that lowers the rider's center of gravity below the second predetermined height. The rider's center of gravity changes depending on the rider's posture relative to the human-powered vehicle 10. For example, the fourth predetermined height is the lowest height of the seatpost 40 that can be changed by the electrically adjustable seatpost 38. The first predetermined height may be configured to further include a predetermined height that is different from any of the second predetermined height, the third predetermined height, and the fourth predetermined height.

For example, the control device 60 further includes a first memory unit 64A that stores the third predetermined height. The first memory unit 64A includes, for example, non-volatile memory and volatile memory. The non-volatile memory includes, for example, at least one of ROM, EPROM, EEPROM, and flash memory. The volatile memory includes, for example, RAM. For example, the first memory unit 64A is configured integrally with the memory unit 64.

For example, the third predetermined height stored in the first memory unit 64A can be changed. The third predetermined height can be changed, for example, by an external device 90. For example, the external device 90 includes at least one of a cycle computer, a smartphone, and a personal computer.

For example, when the operating unit 58 is operated, the control unit 62 controls the electrically adjustable seat post 38 to change the height of the seat post 40. For example, the operating unit 58 is provided on the handlebar 34. For example, the operating unit 58 includes at least one of a button and a lever. For example, the height of the seat post 40 can be changed by one of two methods: changing the height to a first predetermined height when an operation is input to the operating unit 58, or changing the height of the seat post 40 to a height corresponding to the amount of operation of the operating unit 58.

If the operating unit 58 is configured to change the height to a predetermined first predetermined height when operated, for example, the control unit 62 controls the electrically adjustable seatpost 38 to change the height of the seatpost 40 to the first predetermined height when the operating unit 58 is operated. For example, when the operating unit 58 is operated, the control unit 62 controls the electrically adjustable seatpost 38 to change the height of the seatpost 40 to one of a second predetermined height, a third predetermined height, or a fourth predetermined height depending on the method of operating the operating unit 58. The method of operating the operating unit 58 includes, for example, at least one of the time the operating unit 58 is operated and the number of times the operating unit 58 is operated within a predetermined time. If the operating unit 58 is configured to have multiple operating directions, such as a lever, the method of operating the operating unit 58 may include the direction of operation of the operating unit 58. If the operating unit 58 is configured to have multiple buttons, the method of operating the operating unit 58 may include which of the multiple buttons on the operating unit 58 was operated.

The control unit 62 may be configured to control the electrically adjustable seat post 38 so that, when the operating unit 58 is operated, the height of the seat post 40 is continuously changed to a height corresponding to the amount of operation of the operating unit 58. For example, the amount of change in the height of the seat post 40 in response to the amount of operation of the operating unit 58 is predetermined. For example, the amount of operation of the operating unit 58 includes at least one of the magnitude of operation of the operating unit 58, the operation time when the operating unit 58 is continuously operated, and the number of times the operating unit 58 is operated within a predetermined time.

The control unit 62 acquires forward travel path information F from the detection unit 46 and acquires an estimated travel path along which the human-powered vehicle 10 will travel in the future based on the forward travel path information F. The control unit 62 is configured to control the electrically adjustable seat post 38 in accordance with the estimated travel path. For example, the estimated travel path acquired by the control unit 62 includes the area of the travel path along which the human-powered vehicle 10 will travel in the future. For example, the estimated travel path acquired by the control unit 62 includes information regarding the state of the travel path in the area of the travel path along which the human-powered vehicle 10 will travel in the future. For example, the estimated travel path acquired by the control unit 62 includes information regarding obstacles in the area of the travel path along which the human-powered vehicle 10 will travel in the future. For example, the control unit 62 controls the electrically adjustable seat post 38 to change the height of the seat post 40 in accordance with the estimated travel path. For example, the control unit 62 controls the electrically adjustable seat post 38 to change the height of the seat post 40 in accordance with at least one of the inclination of the estimated travel path or the traversal difficulty of the estimated travel path.

For example, the control unit 62 includes a driving path estimation unit 70 that acquires an estimated driving path based on forward information F. If the forward information F includes a forward image, the driving path estimation unit 70 estimates an estimated driving path based on the forward image. If the forward information F includes obstacle information acquired by the laser device 46B, the driving path estimation unit 70 acquires an estimated driving path based on the obstacle information. For example, if the forward information F includes map information of the driving path, the driving path estimation unit 70 acquires an estimated driving path based on the map information and information related to the current location of the human-powered vehicle 10.

For example, the roadway estimation unit 70 includes an artificial intelligence processing unit 72. The artificial intelligence processing unit 72 includes, for example, a storage device 74 that stores software and an arithmetic processing unit 76 that executes the software stored in the storage device 74. The arithmetic processing unit 76 includes, for example, a CPU or an MPU. The arithmetic processing unit 76 preferably includes a GPU (Graphics Processing Unit) in addition to the CPU or MPU. The arithmetic processing unit 76 may also include an FPGA (Field-Programmable Gate Array). The artificial intelligence processing unit 72 may include one or more arithmetic processing units 76. The artificial intelligence processing unit 72 may also include multiple arithmetic processing units 76 located at multiple separate locations. The storage device 74 includes, for example, non-volatile memory and volatile memory. The storage device 74 stores a control program 78, a learning program 80, and a learning model 82. The learning model 82 may be a trained model trained using a predetermined learning algorithm, or may be configured to be updated using the learning algorithm. The learning algorithm includes machine learning, deep learning, or deep reinforcement learning. The learning algorithm may include, for example, at least one of supervised learning, unsupervised learning, and reinforcement learning. As the learning algorithm, a method other than those described in this specification may be used as long as it is configured to update the learning model 82 using a method in the field of artificial intelligence. The learning process for updating the learning model 82 is preferably performed by a GPU. The learning algorithm may use a neural network (NN). The learning algorithm may use a recurrent neural network (RNN).

An example of the learning model 82 of the artificial intelligence processing unit 72 shown in FIG. 4 includes an input layer 84, an intermediate layer 86, and an output layer 88. Forward information F is input to the input layer 84. The learning model 82 is trained in advance so that when information is input to the input layer 84, output information is output from the output layer 88. The intermediate layer 86 uses training data to learn the relationship between the information input to the input layer 84 and the driving path output by the output layer 88. The training data used by the intermediate layer 86 includes information about an image of the driving path and information about a boundary B between an area that is a driving path and an area that is not a driving path. The intermediate layer 86 includes a convolutional layer 86A, a pooling layer 86B, and a fully connected layer 86C. A plurality of intermediate layers 86 may be provided. The output layer 88 outputs an estimated driving path.

For example, the learning model 82 is configured to be updatable by an external device 90. For example, the learning model 82 can update the number of convolutional layers 86A, pooling layers 86B, and fully connected layers 86C in the intermediate layer 86 by the external device 90. For example, the learning model 82 can update, by the external device 90, the relationship between the forward information F input to the input layer 84 on which the intermediate layer 86 learns and the estimated driving path output by the output layer 88.

For example, a forward image is input to the artificial intelligence processing unit 72 as forward information F. For example, the artificial intelligence processing unit 72 is configured to output an estimated driving path based on the forward image. For example, the artificial intelligence processing unit 72 outputs an estimated driving path along which the human-powered vehicle 10 can travel, or an estimated driving path along which the rider is likely to travel, based on the forward image. For example, the artificial intelligence processing unit 72 outputs the state of the estimated driving path based on the forward image. The artificial intelligence processing unit 72 outputs, based on the forward image, whether the estimated driving path contains at least one of a curve, a step, a slope, and an obstacle. When a forward image transmitted from the imaging device 46A is input, the artificial intelligence processing unit 72 is configured to output an estimated driving path based on the feature quantities of the forward image. For example, the artificial intelligence processing unit 72 outputs the estimated driving path by processing the forward image. For example, the artificial intelligence processing unit 72 outputs the estimated driving path by detecting edges in the forward image.

For example, the artificial intelligence processing unit 72 identifies an object X on the driving path based on forward information F. The artificial intelligence processing unit 72 is configured to obtain an estimated driving path based on the object X. For example, the artificial intelligence processing unit 72 detects edges in the forward image and identifies the detected edges as object X. For example, object X is a characteristic part in the forward image. For example, object X includes at least one outline of a characteristic ground surface that is different from the surrounding ground surface, a tree W, a rock, and an artificial object.

For example, the artificial intelligence processing unit 72 identifies a boundary B between an area in the forward information F that is a driving path and an area that is not a driving path based on the object X. The artificial intelligence processing unit 72 is configured to acquire an estimated driving path based on the boundary B. For example, the area that is a driving path in the forward image includes an area of the ground surface in the forward image that is suitable for driving. For example, areas that are suitable for driving include flat earthen roads and flat paved roads. For example, the area that is not a driving path in the forward image includes an area of the ground surface in the forward image that is not suitable for driving, and an area of the ground surface in the forward image that is not suitable for driving. For example, areas that are not ground surface include water surfaces, sky, and space. For example, areas that are not suitable for driving include green spaces, slopes that cannot be traversed, and cliffs. For example, areas that are not suitable for driving include uneven earthen roads and uneven paved roads. For example, the estimated driving path acquired by the artificial intelligence processing unit 72 has a width in the horizontal direction perpendicular to the driving direction of the human-powered vehicle 10. For example, if there is an obstacle that the human-powered vehicle 10 cannot pass through, the artificial intelligence processing unit 72 will not identify that part as part of the estimated driving path.

With reference to Figures 5 and 6, an example of a boundary B and a driving path in the forward image identified by the artificial intelligence processing unit 72 will be described. For example, Figure 5 includes an area that is a driving path and an area that is not a driving path. The area that is a driving path in Figure 5 is, for example, an area with a flat earth surface. The area that is not a driving path in Figure 5 is, for example, an area with a green ground surface. The artificial intelligence processing unit 72 distinguishes between an area with a flat earth surface and an area with a green ground surface, for example, by color. When the forward image in Figure 5 is input, the artificial intelligence processing unit 72 identifies the area where the area with a flat earth surface and the area with a green ground surface are adjacent as object X. The artificial intelligence processing unit 72 connects the identified object X to identify a boundary B. For example, the artificial intelligence processing unit 72 identifies two boundaries B extending forward from the forward image and outputs the portion between the two boundaries B as the estimated driving path. For example, the artificial intelligence processing unit 72 estimates whether the estimated driving path contains at least one of a curve, a step, a slope, and an obstacle, based on the shape of the two boundaries B.

For example, the artificial intelligence processing unit 72 estimates that there is a change in the estimated driving path based on the boundary B heading forward. For example, if the boundary B heading forward is curved, the artificial intelligence processing unit 72 determines that there is a curve in the estimated driving path. For example, if the boundary B heading forward is interrupted in the direction of travel of the human-powered vehicle 10, or if the boundary B extends laterally forward and two boundaries B overlap, the artificial intelligence processing unit 72 determines that there is a step in the estimated driving path. For example, if the boundary B is distorted, the artificial intelligence processing unit 72 determines that there is a slope in the estimated driving path. For example, the artificial intelligence processing unit 72 estimates that there is a slope in the estimated driving path based on the position on the forward image of the boundary B that borders the part corresponding to the sky. For example, the artificial intelligence processing unit 72 estimates that there is a change in slope in the estimated driving path depending on the distortion of the boundary B. For example, the artificial intelligence processing unit 72 estimates that there is a change in slope in the estimated driving path based on the position on the forward image of the boundary B that borders the part corresponding to the sky. For example, if boundary B surrounds a certain area, the artificial intelligence processing unit 72 determines that there is an obstacle on the estimated driving path.

For example, Figure 6 shows an example of a forward image in which a tree W, an obstacle in the travel path, is included. The artificial intelligence processing unit 72 determines that an obstacle is present in the estimated travel path based on a boundary B that surrounds the portion corresponding to the tree W in the forward image in Figure 6.

For example, Figure 7 shows an example of a forward image when the road is inclined. Figure 7 shows a scene where the road is inclined downwards. For example, the artificial intelligence processing unit 72 determines that the estimated road is inclined because the area between the right boundary B and the left boundary B is distorted so that it narrows rapidly as it moves forward. For example, if the area between the right boundary B and the left boundary B is distorted so that it narrows rapidly as it moves forward, and boundary B curves after narrowing, the artificial intelligence processing unit 72 determines that the estimated road is downhill.

For example, the travel path estimation unit 70 determines whether the slope of the estimated travel path is uphill, flat, or downhill, depending on the slope of the estimated travel path. Whether the slope of the estimated travel path is uphill, flat, or downhill may be estimated by the artificial intelligence processing unit 72. The artificial intelligence processing unit 72 may be configured to output the slope angle of the estimated travel path. In this case, the travel path estimation unit 70 determines whether the slope of the estimated travel path is uphill, flat, or downhill, depending on the slope angle of the estimated travel path output by the artificial intelligence processing unit 72. For example, the travel path estimation unit 70 determines that the slope of the estimated travel path is uphill if the slope angle of the estimated travel path is equal to or greater than a first angle. For example, the travel path estimation unit 70 determines that the slope of the estimated travel path is flat if the slope angle of the estimated travel path is less than the first angle and equal to or greater than a second angle smaller than the first angle. For example, the travel path estimation unit 70 determines that the slope of the estimated travel path is downhill if the slope angle of the estimated travel path is less than the second angle.

For example, the driving path estimation unit 70 determines whether the traversal difficulty of the estimated driving path is technical. For example, if the artificial intelligence processing unit 72 estimates that there is an obstacle on the estimated driving path, the driving path estimation unit 70 determines that the traversal difficulty of the estimated driving path is technical. The driving path estimation unit 70 may determine that the traversal difficulty of the estimated driving path is technical depending on the type of obstacle that the artificial intelligence processing unit 72 determines to be present on the driving path. The traversal difficulty of the estimated driving path is technical when, for example, it is difficult for the rider to control the human-powered vehicle 10 when the human-powered vehicle 10 passes through the estimated driving path. For example, if the estimated driving path is uneven due to exposed rocks or tree roots, the traversal difficulty of the estimated driving path is technical. For example, the control unit 62 determines whether the traversal difficulty of the estimated driving path is technical based on the rider's operation history of the operation unit 58.

For example, the artificial intelligence processing unit 72 is configured to estimate the distance between the object X and the human-powered vehicle 10 based on the forward information F. For example, the travel path estimation unit 70 detects the distance between the object X and the human-powered vehicle 10 from the forward image using color aperture imaging technology. The travel path estimation unit 70 estimates the distance between a specific position of the boundary B and the human-powered vehicle 10 based on the forward information F. For example, the travel path estimation unit 70 detects the distance between the human-powered vehicle 10 and at least one of a curve, step, slope, and obstacle on the estimated travel path output from the artificial intelligence processing unit 72. The travel path estimation unit 70 may estimate the distance between the object X and the human-powered vehicle 10 using means other than color aperture imaging technology.

The process by which the control unit 62 estimates the estimated driving route will be described with reference to the flowchart in Figure 8. For example, when power is supplied to the control unit 62, the control unit 62 starts the process and proceeds to step S11 of the flowchart shown in Figure 8. When the flowchart in Figure 8 ends, the control unit 62 repeats the process from step S11 after a predetermined period, for example, until the supply of power is stopped.

In step S11, the control unit 62 determines whether or not forward information F has been input. If forward information F has been input, the control unit 62 proceeds to step S12. If forward information F has not been input, the control unit 62 ends the process.

In step S12, the control unit 62 acquires the estimated driving path and ends the processing. For example, the processing of step S12 is performed by the driving path estimation unit 70.

For example, the control unit 62 is configured to control the electrically adjustable seat post 38 in accordance with at least one of the inclination of the estimated travel path and the passability of the estimated travel path. For example, the control unit 62 is configured to control the electrically adjustable seat post 38 to change the height in accordance with the estimated travel path. For example, the control unit 62 is configured to control the electrically adjustable seat post 38 to change the height of the seat post 40 in accordance with at least one of the inclination of the estimated travel path and the passability of the estimated travel path.

For example, the control unit 62 controls the electrically adjustable seat post 38 to change the height of the seat post 40 in accordance with the inclination of the estimated travel path. For example, if the inclination of the estimated travel path is uphill or flat, the control unit 62 controls the electrically adjustable seat post 38 to change the height of the seat post 40 to a second predetermined height or a third predetermined height. For example, if the inclination of the estimated travel path is downhill, the control unit 62 controls the electrically adjustable seat post 38 to change the height of the seat post 40 to a fourth predetermined height.

For example, the control unit 62 controls the electrically adjustable seat post 38 to change the height of the seat post 40 depending on the traversal difficulty of the estimated riding path. For example, if the control unit 62 estimates that the traversal difficulty of the estimated riding path is technical, it controls the electrically adjustable seat post 38 to change the height of the seat post 40 to a third predetermined height or a fourth predetermined height.

For example, the control unit 62 controls the electrically adjustable seat post 38 to change the height of the seat post 40 depending on the slope and traversal difficulty of the estimated riding path. For example, if the control unit 62 estimates that the slope of the estimated riding path is uphill or flat and that the traversal difficulty of the estimated riding path is technical, it controls the electrically adjustable seat post 38 to change the height of the seat post 40 to a third predetermined height. For example, if the control unit 62 estimates that the slope of the estimated riding path is downhill and that the traversal difficulty of the estimated riding path is technical, it controls the electrically adjustable seat post 38 to change the height of the seat post 40 to a fourth predetermined height.

Table 1 shows an example of the relationship between the inclination and passing difficulty of the estimated travel path and the height of the seat post 40 when the control unit 62 controls the electrically adjustable seat post 38 to change the height of the seat post 40 according to the inclination and passing difficulty of the estimated travel path. "Technical" in Table 1 indicates that the passing difficulty of the estimated travel path is technical. "Non-technical" in Table 1 indicates that the passing difficulty of the estimated travel path is not technical.

For example, when controlling the electrically adjustable seatpost 38 to change its height in accordance with the estimated traveling route, the control unit 62 is configured to control the electrically adjustable seatpost 38 so that the height becomes a first predetermined height. For example, the control unit 62 is configured to control the electrically adjustable seatpost 38 so that the height becomes one of a second predetermined height, a third predetermined height, and a fourth predetermined height in accordance with first traveling information related to at least one of the traveling state of the human-powered vehicle 10 and the traveling environment of the human-powered vehicle 10. For example, the control unit 62 selects one of the second predetermined height, the third predetermined height, and the fourth predetermined height in accordance with the estimated traveling route and the first traveling information. The control unit 62 controls the electrically adjustable seatpost 38 so that the height of the seatpost 40 becomes the selected height. The control unit 62 may also be configured to control the electrically adjustable seatpost 38 to change the height of the seatpost 40 in accordance with the estimated traveling route and the first traveling information when the first traveling information changes.

For example, the first driving information includes at least one of the current driving state of the human-powered vehicle 10 and the current driving environment of the human-powered vehicle 10. For example, the first driving information includes at least one of the current height of the seat post 40 and the seating state. The control unit 62 may obtain the current height of the seat post 40 from the history of operation commands to the electrically adjustable seat post 38, or from a height sensor provided on the electrically adjustable seat post 38. The seating state refers to whether or not the rider is seated on the seat post 40. The control unit 62 may determine whether or not the rider is seated based on the output of a load sensor provided on the saddle 42. The control unit 62 may also determine whether or not the rider is seated based on an image obtained from an imaging device that captures an image of the rider. The imaging device that captures an image of the rider may be integrated with the imaging device 46A. The driving environment of the human-powered vehicle 10 includes, for example, the slope of the current road.

The first driving information may include at least one of the human-powered driving force, the rotational speed of the input rotary shaft 12A, the vehicle speed of the human-powered vehicle 10, the inclination of the human-powered vehicle 10, and the inclination of the road on which the human-powered vehicle 10 is currently traveling. The first driving information may be detected by at least one of the human-powered driving force detection unit 48, the crank rotation sensor 50, the vehicle speed sensor 52, and the inclination sensor 54. The control unit 62 may obtain the first driving information from the estimated road. For example, the control unit 62 obtains the inclination of the human-powered vehicle 10 from the inclination of the estimated road.

For example, the control unit 62 is configured to control the electrically adjustable seat post 38 to change the height of the seat post 40 according to the estimated travel path and the current height of the seat post 40. For example, if the current height of the seat post 40 is the same as the height of the seat post 40 according to the estimated travel path, the control unit 62 does not control the electrically adjustable seat post 38 to change the height of the seat post 40.

For example, the control unit 62 is configured to control the electrically adjustable seat post 38 to change the height of the seat post 40 depending on the inclination of the estimated travel path and the current travel path. For example, the control unit 62 determines whether the inclination of the current travel path is uphill, flat, or downhill depending on the output of the inclination sensor 54. In this case, the control unit 62 determines whether the inclination of the current travel path is uphill, flat, or downhill depending on information about the inclination angle included in the output of the inclination sensor 54. For example, the control unit 62 determines that the inclination of the current travel path is uphill if the information about the inclination angle corresponds to a third angle or greater. For example, the control unit 62 determines that the inclination of the current travel path is flat if the information about the inclination angle is less than the third angle and equal to or greater than a fourth angle that is smaller than the third angle. For example, the control unit 62 determines that the inclination of the current travel path is downhill if the information about the inclination angle is less than the fourth angle. For example, if the inclination of the estimated travel path is the same as the inclination of the human-powered vehicle 10, the control unit 62 does not control the electrically adjustable seat post 38 to change the height of the seat post 40.

The control unit 62 is configured to control the electrically adjustable seat post 38 to change the height of the seat post 40 in accordance with the estimated riding path and seating state. For example, when the rider is not seated on the seat post 40, the control unit 62 is configured to control the electrically adjustable seat post 38 to change the height in accordance with the estimated riding path.

For example, the control unit 62 is configured to control the electrically adjustable seat post 38 to change the height of the seat post 40 according to the estimated traveling path, the seating state, and the inclination of the current traveling path. For example, when the rider is not seated on the seat post 40 and the estimated traveling path is uphill, the control unit 62 controls the electrically adjustable seat post 38 to change the height of the seat post 40 to a second predetermined height. For example, when the rider is not seated on the seat post 40 and the estimated traveling path is downhill, the control unit 62 controls the electrically adjustable seat post 38 to change the height of the seat post 40 to a fourth predetermined height.

Tables 2 to 4 show examples of the height of the seat post 40 when the control unit 62 controls the electrically adjustable seat post 38 to change the height of the seat post 40 in accordance with the first traveling information and the estimated traveling route. For example, if the first traveling information and the estimated traveling route are a combination not listed in any of Tables 2 to 4, the control unit 62 does not control the electrically adjustable seat post 38 to change the height of the seat post 40.

Table 2 shows an example of the relationship between the passing difficulty, seating state, and the inclination of the current driving route when the inclination of the current driving route is uphill. "Technical" in Table 2 indicates that the passing difficulty of the estimated driving route is technical. "Non-technical" in Table 2 indicates that the passing difficulty of the estimated driving route is not technical.

Table 3 shows an example of the relationship between the passing difficulty, seating state, and the inclination of the current driving path when the inclination of the current driving path is flat. "Technical" in Table 3 indicates that the passing difficulty of the estimated driving path is technical. "Non-technical" in Table 3 indicates that the passing difficulty of the estimated driving path is not technical.

Table 4 shows an example of the relationship between the passing difficulty, seating state, and the inclination of the current driving route when the inclination of the current driving route is downhill. "Technical" in Table 4 indicates that the passing difficulty of the estimated driving route is technical. "Non-technical" in Table 4 indicates that the passing difficulty of the estimated driving route is not technical.

The control unit 62 may be configured to control the electrically adjustable seatpost 38 to change the height of the seatpost 40 using only a portion of Tables 2 to 4. For example, the control unit 62 may be configured not to increase the height of the seatpost 40 when the rider is in a seated state on the seatpost 40. In this case, for example, the control unit 62 controls the electrically adjustable seatpost 38 based on Tables 2 to 4 from which the item for the seated seating state has been deleted.

For example, if the system is configured to allow the rider to lower the height of the seat post 40 even when the rider is seated on the seat post 40, the control unit 62 may control the electrically adjustable seat post 38 to change the height of the seat post 40 to the fourth predetermined height when the rider is seated on the seat post 40 and the slope of the estimated riding path is downhill. For example, if the system is configured to allow the rider to lower the height of the seat post 40 even when the rider is seated on the seat post 40, the control unit 62 may control the electrically adjustable seat post 38 to change the height of the seat post 40 to the fourth predetermined height when the rider is seated on the seat post 40 and the slope of the estimated riding path is uphill or flat and the traversal difficulty of the estimated riding path is technical. For example, the control unit 62 may be configured to determine whether the rider is allowed to lower the height of the seat post 40 even when the rider is seated on the seat post 40. Even when the rider is seated on the seat post 40, whether or not the rider is permitted to lower the height of the seat post 40 may be changed, for example, by an external device 90.

For example, the control unit 62 is configured to control the notification unit 44 so that the notification unit 44 notifies information related to the estimated traveling route. For example, when controlling the electrically adjustable seat post 38 to change its height in accordance with the estimated traveling route, the control unit 62 is configured to control the notification unit 44 so that the notification unit 44 notifies information related to the height. For example, the information related to the height of the seat post 40 includes information that allows the rider to know that the height of the seat post 40 will be changed. The notification unit 44 notifies the rider that the height of the seat post 40 will be changed, for example, by using at least one of light, sound, an icon displayed on the display unit, and text displayed on the display unit. The information related to the height of the seat post 40 includes information that allows the rider to know the changed height of the seat post 40.

For example, the control unit 62 is configured to control the electrically adjustable seat post 38 in accordance with the distance. For example, the control unit 62 is configured to control the electrically adjustable seat post 38 in accordance with the distance between the human-powered vehicle 10 and an object X estimated by the artificial intelligence processing unit 72 based on forward information F. For example, the object X estimated by the artificial intelligence processing unit 72 based on forward information F corresponds to the estimated travel path. For example, the control unit 62 controls the electrically adjustable seat post 38 in accordance with the distance from the human-powered vehicle 10 to a position on the estimated travel path where a change in the height of the seat post 40 is required. The position on the estimated travel path where a change in the height of the seat post 40 is required from the human-powered vehicle 10 is, for example, a position on the estimated travel path where the difficulty of passage changes. The position on the estimated travel path where a change in the height of the seat post 40 is required from the human-powered vehicle 10 is, for example, a position on the estimated travel path where the slope changes. For example, if the distance from the human-powered vehicle 10 to a position on the estimated travel route where a change in the height of the seat post 40 is required is greater than or equal to a predetermined distance, the control unit 62 does not control the electrically adjustable seat post 38 to control the height of the seat post 40. For example, if the distance to a position on the estimated travel route where a change in the height of the seat post 40 is required is less than a predetermined distance, the control unit 62 controls the electrically adjustable seat post 38 to control the height of the seat post 40.

For example, the control unit 62 is configured to control the electrically adjustable seatpost 38 to change the height when the rider is seated on the seatpost 40 and the amount of height reduction corresponding to the estimated traveling path is equal to or less than a predetermined amount. For example, the control unit 62 is configured to control the electrically adjustable seatpost 38 to suppress a change in height when the rider is seated on the seatpost 40 and the amount of height reduction corresponding to the estimated traveling path is greater than the predetermined amount. For example, the control unit 62 does not change the height when the rider is seated on the seatpost 40 and the amount of height reduction corresponding to the estimated traveling path is greater than the predetermined amount. The control unit 62 may be configured to control the electrically adjustable seatpost 38 to change the height only when a predetermined condition is met when the rider is seated on the seatpost 40 and the amount of height reduction corresponding to the estimated traveling path is greater than the predetermined amount. A case in which the amount of height reduction is greater than the predetermined amount includes, for example, a case in which the height of the seatpost 40 is changed from the second predetermined height to the fourth predetermined height. Examples of cases in which the amount of height reduction is greater than the predetermined amount include when the height of the seat post 40 is changed from the third predetermined height to the fourth predetermined height. When the electrically adjustable seat post 38 is capable of changing the height in stages, examples of cases in which the amount of height reduction is greater than the predetermined amount include when the height is changed in more than a predetermined number of stages. The control unit 62 may be configured to control the electrically adjustable seat post 38 to suppress height changes by slowing down the speed at which the height is changed. In this case, the control unit 62 slows down the speed at which the height is changed when the rider is seated on the seat post 40 and when the amount of height reduction according to the estimated riding path is greater than the predetermined amount.

The process by which the control unit 62 controls the electrically adjustable seat post 38 to change the height of the seat post 40 will be described with reference to the flowchart in Figure 9. For example, when power is supplied to the control unit 62, the control unit 62 starts the process and proceeds to step S21 of the flowchart shown in Figure 9. When the flowchart in Figure 9 ends, the control unit 62 repeats the process from step S21 after a predetermined period, for example, until the supply of power is stopped.

In step S21, the control unit 62 acquires information about the estimated driving route and the first driving information, and proceeds to step S22. The control unit 62 acquires information about the estimated driving route, for example, from the driving route estimation unit 70. The information about the estimated driving route includes the slope of the estimated driving route and the difficulty of passing through the estimated driving route.

In step S22, the control unit 62 determines whether or not to change the height of the seat post 40. For example, the control unit 62 uses Tables 2 to 4 to select the new height of the seat post 40. If the selected height of the seat post 40 differs from the current height of the seat post 40, the control unit 62 determines that the height of the seat post 40 should be changed. If the height of the seat post 40 should be changed, the control unit 62 proceeds to step S23. If the height of the seat post 40 should not be changed, the control unit 62 ends the processing.

In step S23, the control unit 62 determines whether the distance to the position where the height of the seat post 40 is to be changed is less than a predetermined distance. For example, if the distance from the human-powered vehicle 10 to the position on the estimated travel route where a change in the height of the seat post 40 is requested is less than the predetermined distance, the control unit 62 determines that the distance to the position where the height of the seat post 40 is to be changed is less than the predetermined distance. If the distance to the position where the height of the seat post 40 is to be changed is less than the predetermined distance, the control unit 62 proceeds to step S24. If the distance to the position where the height of the seat post 40 is to be changed is equal to or greater than the predetermined distance, the control unit 62 ends the processing.

In step S24, if the rider is seated on the seat post 40, the control unit 62 determines whether the amount of height reduction according to the estimated traveling path is less than or equal to a predetermined amount. If the rider is seated on the seat post 40 and the amount of height reduction according to the estimated traveling path is less than or equal to the predetermined amount, the control unit 62 proceeds to step S25. If the rider is not seated on the seat post 40, the control unit 62 ends the processing. If the amount of height reduction according to the estimated traveling path is greater than the predetermined amount, the control unit 62 ends the processing.

In step S25, the control unit 62 controls the electrically adjustable seat post 38 to change the height of the seat post 40, and then proceeds to step S26. For example, the control unit 62 controls the electrically adjustable seat post 38 to change the height of the seat post 40 to the height of the seat post 40 selected in step S22.

In step S26, the control unit 62 controls the notification unit 44 to notify information about the height, and then ends the processing. The processing of step S26 may be performed before step S25.

Second Embodiment
The control device 60 of the second embodiment will be described with reference to Figures 10 and 11. The control device 60 of the second embodiment is similar to the control device of the first embodiment except that the control unit 62 is configured to control the electrically adjustable seat post 38 to change its height in accordance with the estimated traveling path and historical information. Therefore, components common to the first embodiment are assigned the same reference numerals as in the first embodiment, and redundant explanations will be omitted.

For example, the control unit 62 is configured to control the electrically adjustable seat post 38 so that the height becomes a first predetermined height in accordance with the estimated travel route and historical information. For example, the control unit 62 determines the current height of the seat post 40 from the historical information, and controls the electrically adjustable seat post 38 so that the height of the seat post 40 becomes the height that corresponds to the estimated travel route.

For example, the control device 60 further includes a second memory unit 64B that stores historical information related to the change history of the height of the seat post 40. The second memory unit 64B stores predetermined control programs and information used in the control process. The second memory unit 64B includes, for example, non-volatile memory and volatile memory. The non-volatile memory includes, for example, at least one of ROM, EPROM, EEPROM, and flash memory. The volatile memory includes, for example, RAM. For example, the second memory unit 64B is configured integrally with the memory unit 64.

For example, the second memory unit 64B is configured to store historical information and second driving information related to at least one of the driving state of the human-powered vehicle 10 and the driving environment of the human-powered vehicle 10 in association with each other. For example, the change history is information related to the height of the seat post 40 when the rider previously changed the height of the seat post 40 by operating the operation unit 58. For example, the second memory unit 64B stores the past change history as historical information. For example, the second driving information includes the slope of the road, the difficulty of passing through the road, and the seating state when the rider previously changed the height of the seat post 40 by operating the operation unit 58. For example, the second memory unit 64B is configured to store the change history of the historical information in association with information related to at least one of the driving state of the human-powered vehicle 10 and the driving environment of the human-powered vehicle 10. For example, the second memory unit 64B stores second driving information when the rider previously changed the height of the seat post 40 by operating the operation unit 58. For example, the second memory unit 64B stores how the rider controlled the electrically adjustable seat post 38 to change the seat post 40 in the past second riding information.

For example, the control unit 62 is configured to be able to change the first predetermined height in accordance with the estimated travel route, historical information, and second travel information. For example, when the control unit 62 controls the electrically adjustable seat post 38 so that the height of the seat post 40 becomes the first predetermined height in accordance with the estimated travel route, the control unit 62 changes the first predetermined height in accordance with the historical information. For example, the control unit 62 identifies, from the estimated travel route and the second travel information, the slope of the travel route, the difficulty of passing through the travel route, and the height of the seat post 40 changed by the rider operating the operating unit 58 on a past travel route that was similar to the estimated travel route in terms of seating position. For example, the control unit 62 sets the identified height of the seat post 40 as the new first predetermined height. For example, the control unit 62 may store the new first predetermined height as the new predetermined height.

The process by which the control unit 62 controls the electrically adjustable seat post 38 to change the height of the seat post 40 will be described with reference to the flowchart in Figure 11. For example, when power is supplied to the control unit 62, the control unit 62 starts the process and proceeds to step S31 in the flowchart shown in Figure 11. When the flowchart in Figure 11 ends, the control unit 62 repeats the process from step S31 after a predetermined period, for example, until the supply of power is stopped.

In step S31, the control unit 62 acquires information about the estimated driving route and history information, and proceeds to step S32. The control unit 62 acquires information about the estimated driving route, for example, from the driving route estimation unit 70. The control unit 62 acquires history information, for example, from the second memory unit 64B.

In step S32, the control unit 62 determines whether or not to change the height of the seat post 40. For example, the control unit 62 determines the height of the seat post 40 that the rider would have selected if traveling a route with a similar level of difficulty included in the history information, based on the passage difficulty of the estimated route. If the determined height of the seat post 40 differs from the current height of the seat post 40, the control unit 62 determines that the height of the seat post 40 should be changed. If the height of the seat post 40 should be changed, the control unit 62 proceeds to step S33. If the height of the seat post 40 should not be changed, the control unit 62 ends the processing.

In step S33, the control unit 62 determines whether the distance to the position where the height of the seat post 40 is to be changed is less than a predetermined distance. For example, if the distance from the human-powered vehicle 10 to the position on the estimated travel route where a change in the height of the seat post 40 is requested is less than the predetermined distance, the control unit 62 determines that the distance to the position where the height of the seat post 40 is to be changed is less than the predetermined distance. If the distance to the position where the height of the seat post 40 is to be changed is less than the predetermined distance, the control unit 62 proceeds to step S34. If the distance to the position where the height of the seat post 40 is to be changed is equal to or greater than the predetermined distance, the control unit 62 ends the processing.

In step S34, the control unit 62 determines whether the rider is seated on the seat post 40 and whether the amount of height reduction according to the estimated traveling path is less than or equal to a predetermined amount. If the rider is seated on the seat post 40 and the amount of height reduction according to the estimated traveling path is less than or equal to the predetermined amount, the control unit 62 proceeds to step S35. If the rider is not seated on the seat post 40, the control unit 62 ends the processing. If the amount of height reduction according to the estimated traveling path is greater than the predetermined amount, the control unit 62 ends the processing.

In step S35, the control unit 62 controls the electrically adjustable seat post 38 to change the height of the seat post 40, and then proceeds to step S36. For example, the control unit 62 controls the electrically adjustable seat post 38 to change the height of the seat post 40 to the height of the seat post 40 determined in step S32.

In step S36, the control unit 62 controls the notification unit 44 to notify information about the height, and then ends the processing. The processing of step S36 may be performed before step S35.

Third Embodiment
A control device 60 of the third embodiment will be described with reference to Figures 2 and 12. The control device 60 of the third embodiment is similar to the control device of the first embodiment except that the control unit 62 is configured to control the electrically adjustable seat post 38 to change its height in accordance with the estimated traveling route when the operating unit 58 is operated. Therefore, components common to the first embodiment are assigned the same reference numerals as in the first embodiment, and redundant explanations will be omitted.

In this embodiment, when the operating unit 58 is operated, the control unit 62 is configured to control the electrically adjustable seat post 38 to change its height in accordance with the estimated traveling path. When the operating unit 58 is operated, the control unit 62 is configured to control the electrically adjustable seat post 38 to change its height in accordance with the estimated traveling path and the current height of the seat post 40.

For example, when the operating unit 58 is operated, the control unit 62 is configured to control the electrically adjustable seat post 38 so that the height corresponds to the estimated traveling route. If the electrically adjustable seat post 38 is configured to be able to change the height of the seat post 40 depending on the amount of operation of the operating unit 58, for example, the control unit 62 is configured to control the electrically adjustable seat post 38 so that the height corresponds to the estimated traveling route, regardless of the amount of operation of the operating unit 58.

For example, when an operation is input to the operating unit 58, the control unit 62 is configured to control the electrically adjustable seat post 38 to change the height of the seat post 40 in accordance with at least one of the inclination of the estimated travel path and the degree of difficulty of passing through the estimated travel path.

For example, if the slope of the estimated riding path is uphill, the traversal difficulty of the estimated riding path is technical, and the current height of the seat post 40 is higher than the third predetermined height, when the rider operates the operating unit 58 to lower the height of the seat post 40, the control unit 62 controls the electrically adjustable seat post 38 to change the height of the seat post 40 to the third predetermined height. For example, if the slope of the estimated riding path is uphill, the traversal difficulty of the estimated riding path is technical, and the current height of the seat post 40 is lower than the third predetermined height, when the rider operates the operating unit 58 to raise the height of the seat post 40, the control unit 62 controls the electrically adjustable seat post 38 to change the height of the seat post 40 to the third predetermined height.

For example, if the slope of the estimated riding path is uphill, the traversal difficulty of the estimated riding path is technical, and the current height of the seat post 40 is higher than the second predetermined height, when the rider operates the operating unit 58 to lower the height of the seat post 40, the control unit 62 controls the electrically adjustable seat post 38 to change the height of the seat post 40 to the third predetermined height. For example, if the slope of the estimated riding path is uphill, the traversal difficulty of the estimated riding path is technical, and the current height of the seat post 40 is lower than the fourth predetermined height, when the rider operates the operating unit 58 to raise the height of the seat post 40, the control unit 62 controls the electrically adjustable seat post 38 to change the height of the seat post 40 to the third predetermined height.

Table 5 shows an example of the relationship when the control unit 62 controls the electrically adjustable seat post 38 to change the height of the seat post 40 in accordance with the current height of the seat post 40, the inclination of the estimated route, the traversal difficulty of the estimated route, and the operation of the operating unit 58. Table 5 shows an example of the relationship between the current height of the seat post 40, the inclination of the estimated route, the traversal difficulty of the estimated route, and the operation of the operating unit 58. "Technical" in Table 5 indicates a case where the traversal difficulty of the estimated route is technical. "Down" in the operation of the operating unit 58 in Table 5 indicates a case where the operating unit 58 is operated to lower the height of the seat post 40. "Up" in the operation of the operating unit 58 in Table 5 indicates a case where the operating unit 58 is operated to raise the height of the seat post 40. For example, if the current height of the seat post 40, the inclination of the estimated route, the traversal difficulty of the estimated route, and the operation of the operating unit 58 are a combination not listed in Table 5, the control unit 62 does not control the electrically adjustable seat post 38 to change the height of the seat post 40.

Referring to the flowchart in Figure 12, we will explain the process in which the control unit 62 controls the electrically adjustable seat post 38 to change the height of the seat post 40 when the operating unit 58 is operated. For example, when power is supplied to the control unit 62, the control unit 62 starts the process and proceeds to step S41 in the flowchart shown in Figure 12. When the flowchart in Figure 12 ends, the control unit 62 repeats the process from step S41 after a predetermined period, for example, until the supply of power is stopped.

In step S41, the control unit 62 determines whether the operating unit 58 has been operated. For example, the control unit 62 determines that the operating unit 58 has been operated when the rider operates the operating unit 58 to control the electrically adjustable seat post 38 so as to change the height of the seat post 40. If the operating unit 58 has been operated, the control unit 62 proceeds to step S42. If the operating unit 58 has not been operated, the control unit 62 ends the processing.

In step S42, the control unit 62 controls the electrically adjustable seat post 38 to change the height of the seat post 40, and then ends the processing. For example, using Table 5, if the current height of the seat post 40 differs from the changed height of the seat post 40, the control unit 62 controls the electrically adjustable seat post 38 to change the height of the seat post 40. For example, if the current height of the seat post 40 does not differ from the changed height of the seat post 40, the control unit 62 ends the processing without changing the height of the seat post 40.

Fourth Embodiment
A control device 60 of the fourth embodiment will be described with reference to Figures 2 and 13. The control device 60 of the fourth embodiment is similar to the control device of the third embodiment except that, when the operating unit 58 is operated, the control unit 62 controls the electrically adjustable seat post 38 so that the height corresponds to the amount of operation of the operating unit 58 in accordance with the estimated traveling route. Therefore, components common to the third embodiment are assigned the same reference numerals as in the third embodiment, and redundant explanations will be omitted.

In this embodiment, when the operating unit 58 is operated, the control unit 62 is configured to control the electrically adjustable seat post 38 so that the height corresponds to the amount of operation of the operating unit 58. The control unit 62 is configured to control the electrically adjustable seat post 38 in accordance with the estimated traveling route. For example, when the operating unit 58 is operated, the control unit 62 determines whether the height of the seat post 40 can be changed in accordance with the estimated traveling route. For example, the control unit 62 determines whether the height of the seat post 40 can be changed in accordance with at least one of the inclination of the estimated traveling route and the degree of difficulty of passing through the estimated traveling route.

For example, when the slope of the estimated travel path is flat or downhill, the control unit 62 is configured to control the electrically adjustable seat post 38 so that the height of the seat post 40 corresponds to the amount of operation of the operating unit 58. For example, when the slope of the estimated travel path is uphill, the control unit 62 is configured not to change the height of the seat post 40.

For example, if the traversal difficulty of the estimated riding route is not technical, the control unit 62 is configured to control the electrically adjustable seat post 38 so that the height of the seat post 40 corresponds to the amount of operation of the operating unit 58. For example, if the traversal difficulty of the estimated riding route is technical, the control unit 62 is configured not to change the height of the seat post 40.

Referring to the flowchart in Figure 13, we will explain the process in which, when the operating unit 58 is operated, the control unit 62 controls the electrically adjustable seat post 38 to change the height of the seat post 40 according to the estimated riding path so that the height corresponds to the amount of operation of the operating unit 58. For example, when power is supplied to the control unit 62, the control unit 62 starts the process and proceeds to step S51 in the flowchart shown in Figure 13. When the flowchart in Figure 13 ends, the control unit 62 repeats the process from step S51 after a predetermined period, for example, until the supply of power is stopped.

In step S51, the control unit 62 determines whether the operating unit 58 has been operated. For example, the control unit 62 determines that the operating unit 58 has been operated when the rider operates the operating unit 58 to control the electrically adjustable seat post 38 so as to change the height of the seat post 40. If the operating unit 58 has been operated, the control unit 62 proceeds to step S52. If the operating unit 58 has not been operated, the control unit 62 ends the processing.

In step S52, the control unit 62 determines whether the height of the seat post 40 can be changed. In step S52, the control unit 62 determines whether the height of the seat post 40 can be changed in accordance with the estimated traveling route. If the height of the seat post 40 can be changed, the control unit 62 proceeds to step S53. If the height of the seat post 40 cannot be changed, the control unit 62 ends the processing.

In step S53, the control unit 62 controls the electrically adjustable seat post 38 so that the height corresponds to the amount of operation of the operating unit 58, and then ends the process.

<Modification>
The descriptions of each embodiment are examples of possible forms of a control device for a human-powered vehicle according to the present disclosure, and are not intended to limit the forms. A control device for a human-powered vehicle according to the present disclosure can take the form of, for example, a modified version of each of the embodiments shown below, or a combination of at least two mutually consistent modified versions. In the following modified versions, parts that are common to the embodiments will be assigned the same reference numerals as in the embodiments, and their description will be omitted.

- As long as the control unit 62 is configured to control the electrically adjustable seat post 38 in accordance with the estimated travel route, other components may be omitted. In this case, for example, the control unit 62 may be configured to execute the process of FIG. 14. For example, when power is supplied to the control unit 62, the control unit 62 starts the process and proceeds to step S61 of the flowchart shown in FIG. 14. When the flowchart of FIG. 14 ends, the control unit 62 repeats the process from step S61 after a predetermined period, for example, until the supply of power is stopped. In step S61, the control unit 62 acquires information about the estimated travel route and proceeds to step S62. For example, the information about the estimated travel route includes at least one of the inclination of the estimated travel route and the traversal difficulty of the estimated travel route. In step S62, the control unit 62 controls the electrically adjustable seat post 38 to change the height of the seat post 40 in accordance with the estimated travel route, and then ends the process. For example, in step S62, the control unit 62 may determine the height of the seat post 40 to be changed using Table 1.

The first or second embodiment may be combined with the third or fourth embodiment. For example, the control device 60 is configured to be able to switch between executing the control of the flowchart in FIG. 9 or FIG. 11 and the control of the flowchart in FIG. 13 or FIG. 14. For example, the control unit 62 is configured to execute the control of the flowchart in FIG. 9 or FIG. 11 when the rider's operation of the human-powered vehicle 10 is complex and the rider does not have time to operate the operating unit 58 to control the height of the seat post 40. For example, the control unit 62 is configured to execute the control of the flowchart in FIG. 13 or FIG. 14 when the rider's operation of the human-powered vehicle 10 is not complex and the rider has time to operate the operating unit 58 to control the height of the seat post 40. Switching between the control of the flowchart in FIG. 9 or FIG. 11 and the control of the flowchart in FIG. 13 or FIG. 14 may be configured to be able to be switched by the rider's input of an operation to the operating device.

- The control unit 62 may be configured to control the transmission in accordance with the estimated driving route. For example, the control unit 62 may be configured to control the transmission to change the gear ratio in accordance with at least one of the slope of the estimated driving route and the passing difficulty level. For example, if the slope of the estimated driving route is uphill, the control unit 62 controls the transmission to lower the gear ratio. If the passing difficulty level of the estimated driving route is technical, the control unit 62 controls the transmission to not change the gear ratio.

- The control unit 62 may be configured to control the electric suspension according to the estimated driving route. For example, the control unit 62 may be configured to change the suspension's repulsive force and the corresponding control state according to at least one of the slope of the estimated driving route and the passing difficulty level. If the slope of the estimated driving route is uphill, the control unit 62 controls the electric suspension so that the suspension's repulsive force is controlled to be small. If the passing difficulty level of the estimated driving route is technical, the control unit 62 controls the electric suspension so that the suspension's repulsive force is controlled to be small.

- The control unit 62 may be configured to control the electric brakes according to the estimated driving route. For example, the control unit 62 may be configured to change the magnitude of the braking force and the corresponding control state according to at least one of the slope of the estimated driving route and the passing difficulty. If the slope of the estimated driving route is downhill, the control unit 62 controls the electric brakes so that the braking force is controlled to be large. If the passing difficulty of the estimated driving route is technical, the control unit 62 controls the electric brakes so that the braking force is controlled to be large.

- The control unit 62 may be configured to control the display device according to the estimated driving route. For example, the control unit 62 may be configured to change the display content according to at least one of the slope of the estimated driving route and the difficulty of passing through. For example, the control unit 62 displays at least one of the slope of the estimated driving route and the difficulty of passing through on the display device.

In the third and fourth embodiments, the control unit 62 may be configured to control the electrically adjustable seat post 38 to change the height of the seat post 40 when the rider is not seated in the saddle 42. For example, in the flowchart of FIG. 12, when the seating state becomes an unseated state, the control unit 62 starts processing and proceeds to step S41 of the flowchart shown in FIG. 12. For example, in the flowchart of FIG. 13, when the seating state becomes an unseated state, the control unit 62 starts processing and proceeds to step S51 of the flowchart shown in FIG. 13.

- The travel path estimation unit 70 may be configured to estimate the slope of the estimated travel path according to the rider's viewing direction. For example, the control unit 62 acquires an image of the rider from an imaging device capable of capturing an image of the rider. The travel path estimation unit 70 estimates the rider's posture from the image of the rider. The travel path estimation unit 70 may include an artificial intelligence processing unit that estimates rider joint information from the image of the rider. For example, the travel path estimation unit 70 estimates the rider's posture based on the rider's joint information, and estimates the rider's viewing direction from the estimated rider posture. For example, if the rider's line of sight or head is facing upward, the travel path estimation unit 70 determines that the rider's viewing direction is upward and that the slope of the estimated travel path is uphill. For example, if the rider's line of sight or head is facing downward, the travel path estimation unit 70 determines that the rider's viewing direction is downward and that the slope of the estimated travel path is downhill.

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

10...human-powered vehicle, 38...electrically adjustable seat post, 40...seat post, 44...alarm unit, 46...detection unit, 46A...imaging device, 46B...laser device, 46C...position information detection unit, 58...operation unit, 60...control device, 62...control unit, 64A...first memory unit, 64B...second memory unit, 70...travel path estimation unit, 72...artificial intelligence processing unit.

Claims (22)

A control device for a human-powered vehicle,
a control unit configured to control an electrically adjustable seat post of the human-powered vehicle;
the electrically adjustable seat post is configured to be able to control the height of the seat post of the human-powered vehicle;
The control unit
a detection unit for detecting a road ahead, a road ahead information for the human-powered vehicle being obtained based on the road ahead information, and an estimated road ahead along which the human-powered vehicle will travel in the future, and a control unit for controlling the electrically adjustable seat post based on the estimated road ahead information,
a travel path estimation unit that acquires the estimated travel path based on the forward information,
The travel path estimation unit includes an artificial intelligence processing unit ,
the control unit is configured to control the electrically adjustable seat post to change the height in accordance with the estimated traveling path;
The artificial intelligence processing unit
Identifying an object on the road based on the forward information;
A control device configured to obtain the estimated driving path based on the object . The artificial intelligence processing unit
Identifying a boundary between an area that is the travel path and an area that is not the travel path in the forward information based on the object;
The control device of claim 1 , configured to obtain the estimated driving path based on the boundary. the artificial intelligence processing unit is configured to estimate a distance between the object and the human-powered vehicle based on the forward information;
The control device according to claim 1 or 2 , wherein the control unit is configured to control the electrically adjustable seat post in accordance with the distance. The control device according to claim 1 , wherein the control unit is configured to control the electrically adjustable seat post in accordance with at least one of an inclination of the estimated travel path and a degree of travel difficulty of the estimated travel path. 5. The control device according to claim 1, wherein the control unit is configured to control the electrically adjustable seat post to change the height when a rider is seated on the seat post and when a lowering amount of the height according to the estimated traveling path is equal to or less than a predetermined lowering amount. A control device for a human-powered vehicle,
a control unit configured to control an electrically adjustable seat post of the human-powered vehicle;
the electrically adjustable seat post is configured to be able to control the height of the seat post of the human-powered vehicle;
The control unit
a detection unit for detecting a road ahead, a road ahead information for the human-powered vehicle being acquired based on the road ahead information, and an estimated road ahead along which the human-powered vehicle will travel in the future, and a control unit for controlling the electrically adjustable seat post based on the estimated road ahead information,
a control unit configured to control the electrically adjustable seat post to change the height in accordance with the estimated travel path;
A control device configured to control the electrically adjustable seat post to change the height when a rider is seated on the seat post and when the amount of lowering of the height according to the estimated traveling path is equal to or less than a predetermined amount of lowering. 7. The control device according to claim 1, wherein the control unit is configured to control the electrically adjustable seat post to suppress a change in height when a rider is seated on the seat post and when a lowering amount of the height according to the estimated travel path is greater than a predetermined lowering amount. A control device for a human-powered vehicle,
a control unit configured to control an electrically adjustable seat post of the human-powered vehicle;
the electrically adjustable seat post is configured to be able to control the height of the seat post of the human-powered vehicle;
The control unit
a detection unit for detecting a road ahead, a road ahead information for the human-powered vehicle being acquired based on the road ahead information, and an estimated road ahead along which the human-powered vehicle will travel in the future, and a control unit for controlling the electrically adjustable seat post based on the estimated road ahead information,
a control unit configured to control the electrically adjustable seat post to change the height in accordance with the estimated travel path;
A control device configured to control the electrically adjustable seat post to suppress the change in height when a rider is seated on the seat post and when the amount of lowering of the height according to the estimated travel path is greater than a predetermined amount of lowering. 9. The control device according to claim 1, wherein the control unit is configured to control the electrically adjustable seat post to change the height in accordance with the estimated traveling path when a rider is not seated on the seat post. 10. The control device according to claim 1, wherein the control unit is configured to control the notification unit so that the notification unit notifies information regarding the height when controlling the electrically adjustable seat post to change the height in accordance with the estimated travel path. 11. The control device according to claim 1, wherein the control unit is configured to control the electrically adjustable seatpost so that the height becomes a first predetermined height when controlling the electrically adjustable seatpost to change the height in accordance with the estimated travel path. the first predetermined height includes a second predetermined height, a third predetermined height that is lower than the second predetermined height, and a fourth predetermined height that is lower than the third predetermined height;
12. The control device according to claim 11, wherein the control unit is configured to control the electrically adjustable seat post so that the height becomes one of the second predetermined height, the third predetermined height, and the fourth predetermined height in accordance with first driving information related to at least one of a driving state of the human-powered vehicle and a driving environment of the human-powered vehicle . further comprising a first storage unit that stores the third predetermined height;
The control device according to claim 12 , wherein the third predetermined height stored in the first storage unit is changeable. The control device according to claim 1 , wherein the control unit is configured to control the electrically adjustable seat post to change the height in accordance with the estimated traveling path when an operating unit is operated. the control unit is configured to control the electrically adjustable seat post so that, when the operating unit is operated, the height corresponds to an amount of operation of the operating unit;
The control device according to claim 14 , configured to perform control of the electrically adjustable seatpost in response to the estimated travel path. 16. The control device according to claim 14 , wherein the control unit is configured to control the electrically adjustable seat post when the operating unit is operated so that the height becomes a height according to the estimated travel path. 17. The control device according to claim 16, wherein the control unit is configured to control the electrically adjustable seat post when the operating unit is operated so that the height becomes a height corresponding to the estimated traveling route, regardless of an amount of operation of the operating unit . a second storage unit configured to store history information relating to a change history of the height;
The control device according to claim 11 , wherein the control unit is configured to control the electrically adjustable seat post in accordance with the estimated travel path and the history information so that the height becomes the first predetermined height. the second storage unit is configured to store the history information in association with second travel information relating to at least one of a travel state of the human-powered vehicle and a travel environment of the human-powered vehicle;
The control device according to claim 18 , wherein the control unit is configured to be able to change the first predetermined height in accordance with the estimated travel path, the history information, and the second travel information. the detection unit includes an imaging device,
The control device according to claim 1 , wherein the forward information includes a forward image acquired by the imaging device. the detection unit includes a laser device,
The control device according to claim 1 , wherein the forward information includes obstacle information obtained by the laser device. the detection unit includes a position information detection unit,
The control device according to claim 1 , wherein the forward information includes map information of the roadway acquired by the position information detection unit.