Electrically assisted bicycle assist force calculation method, electrically assisted bicycle control unit, electrically assisted bicycle power unit, and electrically assisted bicycle

摘要

An electrically assisted bicycle assist force calculation method includes obtaining from a pedaling force sensor an instant pedaling force applied to a pedal, obtaining a crank advance angle of a crankshaft from an advance angle sensor having a resolution of less than 90°, and determining an assist force based on at least the instant pedaling force and the crank advance angle.