Electric motor-assisted bicycle and motor control apparatus
An electric motor-assisted bicycle includes a vehicle speed sensor to detect a vehicle speed, a torque sensor to detect a pedal force on a pedal connected to a crankshaft, a motor to generate an assist force that assists the pedal force, a motor controller to control the assist force by the motor depending on the pedal force and the vehicle speed, a threshold determiner to determine an unauthorized alteration determination threshold depending on the vehicle speed, and an unauthorized alteration detector to determine whether an unauthorized alteration has been made to the vehicle speed sensor or the torque sensor by comparing a running output and the unauthorized alteration determination threshold, wherein the running output is the sum of the assist force by the motor and the pedal force. If an unauthorized alteration has been made, a predetermined control is performed to address the unauthorized alteration.
1. An electric motor-assisted bicycle comprising:
a vehicle speed sensor to detect a vehicle speed of the electric motor-assisted bicycle;
a torque sensor to detect a pedal force on a pedal connected to a crankshaft of the electric motor-assisted bicycle;
a motor to generate an assist force that assists the pedal force;
at least one of a processor or an electronic circuit programmed or configured to define and function as:
a motor controller configured or programmed to control the assist force by the motor depending on the pedal force and the vehicle speed;
a threshold determiner configured or programmed to determine an unauthorized alteration determination threshold depending on the vehicle speed; and
an unauthorized alteration detector configured or programmed to determine whether an unauthorized alteration has been made to the vehicle speed sensor or the torque sensor by comparing a running output and the unauthorized alteration determination threshold determined depending on the vehicle speed; wherein
the running output is a sum of the assist force by the motor and the pedal force; and
when the unauthorized alteration detector determines that an unauthorized alteration has been made, a predetermined control is performed to address the unauthorized alteration.
2. The electric motor-assisted bicycle according to claim 1 , wherein the unauthorized alteration detector determines whether the unauthorized alteration has been made based on a result of the comparison between the running output and the unauthorized alteration determination threshold under a condition that the vehicle speed is constant.
3. The electric motor-assisted bicycle according to claim 1 , wherein the unauthorized alteration detector determines whether the unauthorized alteration has been made based on a result of the comparison between the running output and the unauthorized alteration determination threshold under a condition that the vehicle speed is constant and a condition that the electric motor-assisted bicycle is determined to be travelling on a flat road.
4. The electric motor-assisted bicycle according to claim 1 , wherein the unauthorized alteration detector determines whether the unauthorized alteration has been made based on a result of the comparison between the running output and the unauthorized alteration determination threshold when at least one of the vehicle speed and an acceleration in a direction of travel of the electric motor-assisted bicycle meets a predetermined condition.
5. The electric motor-assisted bicycle according to claim 1 , wherein the unauthorized alteration detector determines whether the unauthorized alteration has been made by cyclically acquiring the running output and the unauthorized alteration determination threshold a plurality of times and comparing the running output and the unauthorized alteration determination threshold a plurality of times.
6. The electric motor-assisted bicycle according to claim 5 , wherein the unauthorized alteration detector changes a cycle in which the running output and the unauthorized alteration determination threshold are acquired depending on a number of rotations of the crankshaft.
7. The electric motor-assisted bicycle according to claim 5 , wherein the unauthorized alteration detector determines that the unauthorized alteration has been made when a time in which the running output is above the unauthorized alteration determination threshold is longer than a time in which the assist force is generated without the running output being above the unauthorized alteration determination threshold.
8. The electric motor-assisted bicycle according to claim 5 , wherein the unauthorized alteration detector calculates, for each of the plurality of comparisons, a value indicating a degree of likelihood of an unauthorized alteration based on a result of the comparison, and determines that an unauthorized alteration has been made when, for the plurality of comparisons, a cumulative value indicating the degree of likelihood of an unauthorized alteration exceeds a permissible range.
9. The electric motor-assisted bicycle according to claim 8 , further comprising:
a power switch to control a power supply to the motor between on and off; and
a memory to store data; wherein
the unauthorized alteration detector stores in the memory the cumulative value indicating the degree of likelihood of the unauthorized alteration; and
the cumulative value indicating the degree of likelihood of the unauthorized alteration is stored in the memory even when the power switch is turned off.
10. The electric motor-assisted bicycle according to claim 8 , wherein the unauthorized alteration detector calculates, for each of the plurality of comparisons between the running output and the unauthorized alteration determination threshold, the value indicating the degree of likelihood of the unauthorized alteration based on the result of the comparison in which the value is weighted based on at least one of the vehicle speed and the running output.
11. The electric motor-assisted bicycle according to claim 1 , wherein the unauthorized alteration detector detects the unauthorized alteration based on a result of a comparison between the running output and the unauthorized alteration determination threshold when the vehicle speed is within a predetermined target range.
12. The electric motor-assisted bicycle according to claim 1 , wherein the threshold determiner determines the unauthorized alteration determination threshold such that the unauthorized alteration determination threshold increases as the vehicle speed increases for at least a portion of an entire expected vehicle speed range of the electric motor-assisted bicycle.
13. The electric motor-assisted bicycle according to claim 1 , wherein, when the unauthorized alteration detector determines that the unauthorized alteration has been made, the motor controller controls the assist force by the motor in a mode responsive to detection of the unauthorized alteration.
14. A motor control apparatus to control a motor that generates an assist force that assists a pedal force on a pedal of an electric motor-assisted bicycle, the motor control apparatus comprising at least one of a processor or an electronic circuit programmed or configured to execute steps of:
controlling the assist force by the motor depending on the pedal force and a vehicle speed, in which a torque sensor detects the pedal force on the pedal and a vehicle speed sensor detects the vehicle speed;
determining an unauthorized alteration determination threshold depending on the vehicle speed; and
detecting an unauthorized alteration to the vehicle speed sensor or the torque sensor by comparing a running output and the unauthorized alteration determination threshold determined depending on the vehicle speed; wherein
the running output is a sum of the assist force by the motor and the pedal force; and
when it is determined that an unauthorized alteration has been made, the motor control apparatus performs a predetermined control to address the unauthorized alteration.