Bicycle controller and bicycle control system including bicycle controller
A bicycle control device includes an electronic controller that controls a motor to assist propulsion of a bicycle. The electronic controller is configured to decrease an output of the motor upon determining that a shifting device is performing a shifting action to change a transmission ratio of the bicycle. The electronic controller is further configured to end the control that decreases the output of the motor before a predetermined period elapses upon determining that the shifting action is completed or the transmission ratio is changed before the predetermined period has elapsed. The electronic controller is further configured to end the control that decreases the output of the motor upon determining that the predetermined period has elapsed in a case where the shifting action or the change in the transmission ratio is uncompleted even though the predetermined period has elapsed.
1. A bicycle control device comprising:
an electronic controller configured to control a motor that assists propulsion of a bicycle,
the electronic controller being further configured to execute a motor output decreasing control to decrease output of the motor upon determining a shifting device performs a shifting action to change a transmission ratio of the bicycle,
the electronic controller being further configured to end the motor output decreasing control before a predetermined period elapses upon determining that the shifting action is completed before the predetermined period has elapsed,
the electronic controller being further configured to end the motor output decreasing control upon determining that the predetermined time period has elapsed in a case where the shifting action or the change in the transmission ratio is uncompleted even though the predetermined period has elapsed,
the electronic controller being further configured to execute a determination as to whether the shifting action was successful based on a rotational speed of a crank of the bicycle, the electronic controller executing the determination as to whether the shifting action was successful only upon determining that a manual driving force inputted to the crank is greater than or equal to a predetermined value,
the electronic controller being further configured to update the predetermined period in accordance with the change in the transmission ratio that is to be executed by the shifting action and based on a result of the determination as to whether the shifting action was successful.
2. The bicycle control device according to claim 1 , wherein
the electronic controller is further configured to determine whether or not the shifting action is completed based on the rotational speed of the crank of the bicycle and a rotational speed of a wheel of the bicycle.
3. The bicycle control device according to claim 1 , wherein
the electronic controller is further configured to control an electric actuator that actuates the shifting device so that the shifting device performs the shifting action.
4. The bicycle control device according to claim 3 , wherein
the electronic controller is further configured to actuate the shifting device in a case where a rotational angle of a crank of the bicycle is in a predetermined range, the predetermined range including a top dead center of the crank or a bottom dead center of the crank.
5. A method for controlling a bicycle to control a motor that assists propulsion of the bicycle, the method comprising:
executing a motor output decreasing control to decrease an output of the motor upon determining that a shifting device performs a shifting action to change a transmission ratio of the bicycle;
ending the motor output decreasing control before a predetermined period ends upon determining the shifting action is completed before the predetermined period elapses;
ending the motor output decreasing control upon determining that the predetermined period has elapsed before the shifting action is completed;
executing a determination as to whether the shifting action was successful based on a rotational speed of a crank of the bicycle, the electronic controller executing the determination only upon determining that a manual driving force inputted to the crank is greater than or equal to a predetermined value; and
updating the predetermined period in accordance with the change in the transmission ratio that is to be executed by the shifting action and based on a result of the determination as to whether the shifting action was successful.
6. The method according to claim 5 , wherein
the determining whether or not the shifting action is completed is based on the rotational speed of the crank of the bicycle and a rotational speed of a wheel of the bicycle.
7. The method according to claim 5 , further comprising
using an electric actuator to actuate the shifting device so that the shilling device performs the shifting action.
8. The method according to claim 7 , wherein
the using an electric actuator to actuate the shifting device is performed upon determining that a rotational angle of a crank of the bicycle is in a predetermined range, the predetermined range including a top dead center of the crank or a bottom dead center of the crank.