| 摘要 |
To provide a power-assisted vehicle which can execute regenerative power generation also upon running during which low pedaling force is applied. A power-assisted bicycle (1) having a pedaling force sensor SE3 which detects pedaling force inputted to pedals (13L), (13R) and a motor (17) which assists driving force in response to an output of the pedaling force sensor SE3, has a first characteristic that the power-assisted vehicle includes a motor controlling section (16) configured to control the motor (17); and descending slope estimation means (80) which estimates a descending slope of a road surface based on an acceleration ± of a vehicle body of the power-assisted bicycle (1). The motor controlling section (16) controls, when it is estimated by the descending slope estimation means (80) that the road surface has a descending slope, the motor (17) to function as a generator to carry out regenerative power generation. The descending slope estimation means (80) estimates that the road surface has a descending slope when the acceleration ± exceeds a descending slope regeneration starting threshold value ±1 and the pedaling force Q detected by the pedaling force sensor SE3 is lower than an assist starting threshold value Q1. |
