GB2482120A

GB2482120A - Means to control the position of a vehicle on a track

Info

Publication number: GB2482120A
Application number: GB1012059.0A
Authority: GB
Inventors: David Keating; James Wyatt
Original assignee: China Industries Ltd
Current assignee: China Industries Ltd
Priority date: 2010-07-19
Filing date: 2010-07-19
Publication date: 2012-01-25
Anticipated expiration: 2030-07-19
Also published as: WO2012010891A1; GB201012059D0; GB2482120B

Abstract

Apparatus and a method of controlling the position of a vehicle on a track comprising a measurement sensor for measuring the lateral position of the vehicle on a track, a subtractor to produce an error signal based on the difference from the actual position to the desired track position, a second measurement sensor to measure the angle of the vehicle relative to the longitudinal axis of the track wherein a controller steers a vehicle based on the two measurements. An optical sensor may be used to measure position on a track with shaded greyscale or infrared markings. A velocity sensor may also be used to control the steering. Measurement of the angle of the vehicle may be performed by measurements of the position of the vehicle on the track at its front and rear.

Description

1 Racing Vehicle Game 3 The present invention relates to the field of racing vehicle games. More specifically, the 4 present invention concerns methods for controlling the position of a vehicle on a track so as to provide a slotless racing vehicle game.

7 Traditionally, racing vehicle games involve the racing of model slot cars. Each car 8 comprises a guide peg (or swiveling blade) that is configured to locate within a guide slot 9 within a track that acts to define a lane for the car. Power for the car's low-voltage electric motor is carried by metal strips located next to the slot and is picked up by contacts 11 located at the front of the car alongside the guide peg. The voltage used to power the car 12 can be varied by an operator changing a resistance value within a corresponding hand 13 controller.

It is known to also incorporate optional features such as braking elements, electronic 16 control devices and/or traction magnets to assist in the operation of the slot car. More 17 recently, digital technology has been developed which allows for more than one slot car to 18 sharea lane.

1 The challenge in racing slot cars comes in the taking of curves and other obstacles at the 2 highest speed that will not cause the car to lose its grip and spin sideways, or to "de-slot", 3 leaving the track all together. Although, the actual model cars and tracks can accurately 4 replicate corresponding full scale vehicles and racing circuits the realism of racing model slot cars is severely limited by the inflexibility of the guide peg and the slots. Thus, unlike 6 normal racing, variable positions across the width of a track cannot be adopted by the 7 operator of the model car in order to gain a tactical advantage or to protect a racing line.

8 In addition, there is no facility with traditional slotted tracks to incorporate additional racing 9 hazards such as oil slicks, gravel pits or variable weather conditions.

11 It is recognised in the present invention that considerable advantage is to be gained in the 12 provision of a slotless racing vehicle game.

14 It is therefore an object of an aspect of the present invention to obviate or at least mitigate the foregoing disadvantages of the racing vehicle games known in the art.

17 Summary of Invention

19 According to a first aspect of the present invention there is provided a method for controlling the position of a vehicle on a track wherein the method comprises the steps of: 21 -taking a first measurement of a lateral position of the vehicle on the track; 22 -comparing the first measured lateral position with a desired lateral position for the vehicle 23 so as to produce an error signal; 24 -generating a first input signal for a steering servo of the vehicle so as to minimise the error signal; 26 -measuring the speed of the vehicle; 27 -employing the measured speed so as to compensate for speed dependent changes in a 28 response of the vehicle to an output signal from the steering servo.

Preferable the step of taking the first measurement is carried out at the front of the vehicle.

31 This step may comprise employing an optical sensor so as to measure light reflected from 32 the track.

34 The step of measuring the speed of the vehicle may comprise measuring the back emf generated by a motor employed to drive the vehicle.

1 The step of compensating for speed dependent changes in the response of the vehicle 2 comprises varying the gain of a controller that generates the first input signal for the 3 steering servo.

It is preferable for the gain of the controller to be varied with the reciprocal of the square of 6 the speed of the vehicle. In an alternative embodiment the gain of the controller is varied 7 with the reciprocal of the square of the speed of the vehicle when the speed of the vehicle 8 is above a predetermined value.

The method for controlling the position of the vehicle on the track may further comprise the 11 step of measuring the angle between the direction of propagation of the vehicle and a 12 longitudinal axis of the track.

14 The method for controlling the position of the vehicle on the track may further comprise the step generating a second input signal for the steering servo so as to minimise the 16 measured angle.

18 The step of measuring the angle between the direction of propagation of the vehicle and a 19 longitudinal axis of the track may comprise taking a second measurement of a lateral position of the vehicle on the track.

22 Preferable the step of taking the second measurement is carried out at the rear of the 23 vehicle. This step may comprise employing an optical sensor so as to measure light 24 reflected from the track.

26 The step of measuring the angle between the direction of propagation of the vehicle and a 27 longitudinal axis of the track may further comprise taking the second measurement of the 28 lateral position of the vehicle on the track from the first measurement of the lateral position 29 of the vehicle on the track.

31 According to a second aspect of the present invention there is provided a method for 32 controlling the position of a vehicle on a track wherein the method comprises the steps of: 33 -taking a first measurement of a lateral position of the vehicle on the track; 34 -comparing the first measured lateral position with a desired lateral position for the vehicle so as to produce an error signal; 1 -generating a first input signal for a steering servo of the vehicle so as to minimise the 2 error signal; 3 -measuring the angle between the direction of propagation of the vehicle and a longitudinal 4 axis of the track; and -generating a second input signal for the steering servo so as to minimise the measured 6 angle.

8 Preferable the step of taking the first measurement is carried out at the front of the vehicle.

9 This step may comprise employing an optical sensor so as to measure light reflected from the track.

12 The step of measuring the angle between the direction of propagation of the vehicle and a 13 longitudinal axis of the track may comprise taking a second measurement of a lateral 14 position of the vehicle on the track.

16 Preferable the step of taking the second measurement is carried out at the rear of the 17 vehicle. This step may comprise employing an optical sensor so as to measure light 18 reflected from the track.

The step of measuring the angle between the direction of propagation of the vehicle and a 21 longitudinal axis of the track may further comprise taking the second measurement of the 22 lateral position of the vehicle on the track from the first measurement of the lateral position 23 of the vehicle on the track.

The method for controlling the position of the vehicle on the track may further comprise the 26 step of measuring the speed of the vehicle.

28 Preferably the measured speed is employed to compensate for speed dependent changes 29 in a response of the vehicle to an output signal from the steering servo.

31 The step of compensating for speed dependent changes in the response of the vehicle 32 comprises varying the gain of a controller that generates the first input signal for the 33 steering servo. This step may further comprise varying the gain of a controller that 34 generates the second input signal for the steering servo.

2 It is preferable for the gain of feedback controller to be varied with the reciprocal of the 3 speed of the vehicle. In an alternative embodiment the gain of a controller is varied with 4 the reciprocal of the speed of the vehicle when the speed of the vehicle is above a predetermined value.

7 Embodiments of the second aspect of the invention may comprise features to implement 8 the preferred or optional features of the first aspect of the invention or vice versa.

According to a third aspect of the present invention there is provided a method for 11 controlling the position of a vehicle on a track wherein the method comprises the steps of: 12 -taking a first measurement of a lateral position of the vehicle on the track; 13 -comparing the first measured lateral position with a desired lateral position for the vehicle 14 so as to produce an error signal; -generating a first input signal for a steering servo of the vehicle so as to minimise the 16 error signal; 17 -measuring the angle between the direction of propagation of the vehicle and a longitudinal 18 axis of the track; 19 -generating a second input signal for the steering servo so as to minimise the measured angle; 21 -measuring the speed of the vehicle; and 22 -employing the measured speed so as to compensate for speed dependent changes in a 23 response of the vehicle to an output signal from the steering servo.

Embodiments of the third aspect of the invention may comprise features to implement the 26 preferred or optional features of the first or second aspects of the invention or vice versa.

28 According to a fourth aspect of the present invention there is provided a racing track 29 suitable for racing one or more vehicles wherein the racing track comprises an optically graded lateral profile.

32 Preferably the optically graded lateral profile moves from regions of low reflectivity at the 33 inside of the track to regions of high reflectivity towards at the outside of the track.

1 The optically graded lateral profile may be greyscale, coloured or formed from an non- 2 visible reflecting material e.g.an infra-red reflecting material.

4 The racing track may comprise paper with the optically graded lateral profile printed thereon. As a result the racing track can be rolled up or folded for storage or transport 6 purposes and then simply rolled out or unfolded as and when required.

8 The track may comprise separate track sections adapted to be fitted together. Such an 9 embodiment allows for racing tracks of different designs to be set up by a user through the reconfiguration of the track sections.

12 The track may further comprise one or more markings. The markings may be designed to 13 be read by an optical sensor, or to obscure the reading process of an optical sensor. In 14 this way the markings facilitate additional information e.g. lap times; to simulate hazards e.g. oil slicks, track debris, gravel pits; or to simulate changing handling conditions 16 requiring a vehicle to make a pit stop e.g. a vehicle puncture or changing weather 17 conditions.

19 According to a fifth aspect of the present invention there is provided a control circuit for controlling the position of a vehicle on a track wherein the control circuit comprises: 21 -a measurement sensor for measuring a first lateral position of the vehicle on the track; 22 -a subtractor employed to produce an error signal by comparing the first measured lateral 23 position with a desired lateral position for the vehicle; 24 -a controller for generating a first input signal for a steering servo of the vehicle so as to minimise the error signal; 26 -velocity sensor for measuring the speed of the vehicle; 27 -wherein the controller provides a means for employing the measured speed so as to 28 compensate for speed dependent changes in a response of the vehicle to an output signal 29 from the steering servo.

31 Preferably the control circuit further comprises a second measurement sensor for 32 measuring the angle between the direction of propagation of the vehicle and a longitudinal 33 axis of the track. In this embodiment the controller also generates a second input signal 34 for the steering servo so as to minimise the measured angle.

2 Embodiments of the fifth aspect of the invention may comprise features to implement the 3 preferred or optional features of the first and second aspects of the invention or vice versa.

According to a sixth aspect of the present invention there is provided a control circuit for 6 controlling the position of a vehicle on a track wherein the control circuit comprises: 7 -a measurement sensor for measuring a first lateral position of the vehicle on the track; 8 -a subtractor employed to produce an error signal by comparing the first measured lateral 9 position with a desired lateral position for the vehicle; -a controller for generating a first input signal for a steering servo of the vehicle so as to 11 minimise the error signal; 12 -a second measurement sensor for measuring the angle between the direction of 13 propagation of the vehicle and a longitudinal axis of the track; and 14 -wherein the controller generates a second input signal for the steering servo so as to minimise the measured angle.

17 Preferably the control circuit further comprises a velocity sensor for measuring the speed 18 of the vehicle. In this embodiment the controller also provides a means for employing the 19 measured speed so as to compensate for speed dependent changes in a response of the vehicle to an output signal from the steering servo.

22 Embodiments of the sixth aspect of the invention may comprise features to implement the 23 preferred or optional features of the first and second aspects of the invention or vice versa.

According to a seventh aspect of the present invention there is provide a racing vehicle 26 wherein the racing vehicle comprises a control circuit in accordance with the fifth aspect of 27 the present invention.

29 According to an eighth aspect of the present invention there is provide a racing vehicle wherein the racing vehicle comprises a control circuit in accordance with the sixth aspect 31 of the present invention.

1 Brief Description of Drawings

3 Aspects and advantages of the present invention will become apparent upon reading the 4 following detailed description and upon reference to the following drawings in which: 6 Figure 1 presents a schematic representation of a vehicle in accordance with an 7 embodiment of the present invention; 9 Figure 2 presents a block diagram showing the response of the vehicle of Figure 1 to steering commands; 12 Figure 3 presents: 13 (a) a schematic representation of an optical sensor employed by the vehicle of 14 Figure 1; and (b) an electronic circuit of the optical sensor; 17 Figure 4 presents a plan view of an example racing track for the vehicle of Figure 1; 19 Figure 5 presents a block diagram showing a method employed to control the position of the vehicle of Figure 1 across the width of the track of Figure 4; 22 Figure 6 presents a schematic representation of a vehicle in accordance with an 23 alternative embodiment of the present invention; Figure 7 presents a block diagram showing the response of the vehicle of Figure 6 to 26 steering commands; 28 Figure 8 presents: 29 (a) a first; and (b) a second 31 block diagram showing a method employed to control the position of the vehicle of Figure 32 6 across the width of the track of Figure 4; 34 Figure 9 shows a simplified block diagram of the method employed to control the position of the vehicle of Figure 6 across the width of the track of Figure 4.

2 Figure 10 presents a schematic representation of a vehicle in accordance with an 3 alternative embodiment of the present invention; Figure 11 presents a block diagram showing a first method employed to control the 6 position of the vehicle of Figure 10 across the width of the track of Figure 4; and 8 Figure 12 presents a block diagram showing a second method employed to control the 9 position of the vehicle of Figure 10 across the width of the track of Figure 4.

11 Detailed Description

13 Figure 1 presents a schematic representation of a vehicle 1 in accordance with an 14 embodiment of the present invention. The vehicle 1 is shown on a racing track 2, further details of the track 2 being described below with reference to Figure 4.

17 The vehicle 1 can be seen to comprise a main body 3 at the front of which is mounted a 18 set of steerable wheels 4 and to the rear of which is mounted a set of non-steerable 19 wheels 5. Power for the vehicle is provided via a dc electric motor 6 configured to drive the non-steerable wheels 5. A first controller unit 7, for example a proportional-integral- 21 derivative controller (PID controller), provides a means for an operator to remotely control 22 the vehicle 1. A first optical sensor 8 is positioned at the front of the vehicle 1 in order to 23 provide a means for determining the position of the vehicle 1 on the track 2. A velocity 24 sensor 9 is located at the non-steerable wheels 5 and is employed to provide a means for measuring the speed of the vehicle 1. The steering angle (sa), and thus the direction of 26 travel of the vehicle 1, is controlled by a steering servo (s) 10.

28 The way in which the position of the front of the vehicle (fp) across the track 2 is affected 29 by the input signal 11 to the steering servo (s) 10 is represented by the block diagram 12 of Figure 2. In particular, the input signal 11 to the system (Input) is the signal fed to the 31 steering servo (s) 10 which may take a number of forms, for example an analogue voltage, 32 a pulse of certain width, or a binary number within a microcontroller. The output signal 13 33 from the steering servo (s) 10 represents the steering angle (sa) which results.

1 When an input signal 11 of a certain amplitude is applied to the steering servo (s) 10 it 2 causes the steerable wheels 4 to rotate to an angle relative to the body 3 of the vehicle 1.

3 Thus, while the vehicle 1 is moving forward at a certain speed (speed), the angle of the 4 body 3 of the vehicle 1 to the track 2, the body angle (ba), will continually increase. It will be appreciated that the longer the wheelbase (wb) of the vehicle 1, the smaller the effect 6 of the steering angle (sa) will be. Furthermore, the greater the speed at which the vehicle 7 us travelling the faster the body angle will change for a given steering angle (sa). These 8 aspects are represented by the various blocks presented in Figure 2, as described in 9 further detail below.

11 The output of the first sine block 14 is the sine of the input to that block, in other words it is 12 the sine of the steering angle (sa). The block marked 1/wb 15 shows that the effect is 13 inversely proportional to the wheelbase (wb) of the vehicle 1. The fact that the steering 14 angle (sa) is proportional to the speed of the vehicle 1 is shown by the first multiplier block 16, with speed being provided as a secondary input. Finally, the fact that a fixed steering 16 angle (sa) causes the body angle (ba) to continually increase, indicates the presence of a 17 time integral action which is represented by the presence of the first, time integral block 18 17.

Once the input signal 11 has returned to zero the steerable wheels 4 will once more be 21 aligned with the body 3 and so the body angle (ba) will remain at its current value. This 22 non-zero value of the body angle (ba) will, however, cause the position of the front of the 23 vehicle (fp) to continually increase. The rate of increase is once again proportional to 24 speed, and again it is the sine of the body angle (ba) that is significant. These effects are shown by the remaining blocks of the block diagram 12 of Figure 2, namely the second 26 sine block 18, the second multiplier block 19 and the second, time integral block 20.

28 Further details of the optical sensor 8 employed by the vehicle 1 are presented in Figure 3.

29 In particular, Figure 3(a) presents a schematic representation of the optical sensor 8 while Figure 3(b) presents an electrical circuit for this component. The optical sensor 8 can be 31 seen to comprise a light source 21 in the form of an LED and a detector 22 in the form of a 32 phototransistor. Light 23 emitted by the light source 21 is initially directed towards the 33 track 2. Following reflection from the track 2 the light 23 is then incident upon the detector 34 22. As explained in further detail below, the level of the light detected provides a diagnostic for measuring the position of the vehicle 1 across the width of the track 2.

2 The following method may be employed to compensate the optical sensor 8 for the effects 3 of background light. The light source 21 may be turned off so as to allow a reading to be 4 taken by detector 22. This reading can be accounted for by the presence of ambient light.

By subtracting this reading from those recorded during the course of a race allows for the 6 effects of ambient light to be removed from the vehicle control systems described in further 7 detail below.

9 The velocity sensor 9 provides a means for measuring the speed of the vehicle 1 by employing a technique whereby the back emf of the dc electric motor 6 is measured.

11 During normal operation the dc electric motor 6 draws electrical energy and converts it into 12 mechanical energy in order to drive the vehicle 1. When the power to the dc electric motor 13 6 is interrupted the dc electric motor 6 acts as an electrical generator and the above 14 process is reversed i.e. the dc electric motor 6 takes mechanical energy and converts it into electrical energy. The voltage observed when the dc electric motor 6 is operating as 16 an electrical generator is directly proportional to the speed of the dc electric motor 6. Thus 17 by periodically interrupting the electrical supply to the dc electric motor 6 (typically for a 18 period of a few milliseconds) the velocity sensor 9 can be used to measure the speed of 19 the vehicle 1 without significant disruption to the drive of the vehicle 1.

21 A remote control unit 24 provides an operator with the means for generating a command 22 signal 25 for controlling the speed and lateral position of the vehicle 1 on the track 2. In 23 particular, the remote control unit 24 comprises a throttle 26 which provides a means for 24 generating a speed control component for the command signal 25 and a steering wheel 27, or joystick, which provides a means for generating a track position component for the 26 command signal.

28 Racing Track A plan view of an example racing track 2 for the vehicle 1 is presented in Figure 4.

31 Reference to a longitudinal axis 28 of the track relates to an axis which extends around the 32 length of the track, as illustrated by the dashed line presented in Figure 4, while reference 33 to lateral movement of a vehicle 1 on the track 2 refers to movement substantially 34 perpendicular to the longitudinal axis 28.

1 The width of the track 2 is formed so as to exhibit an optically graded lateral profile. In the 2 presently described example the optically graded lateral profile is a greyscale profile (i.e. 3 black to white) from the inside of the track 2 to the outside, so as to provide corresponding 4 regions of relatively low reflectivity to high reflectivity for the light source 21 of the optical sensor 8. In this way the level of light 23 reflected onto the detector 22 from the light 6 source 21 provides a diagnostic for determining the lateral position of the front of the 7 vehicle (fp) on the track 2.

9 It will be appreciated by those skilled in the art that the racing track 2 need not necessarily comprise a greyscale, optically graded lateral profile. The track may be formed from any 11 suitable colour providing that corresponding regions of relatively low reflectivity to high 12 reflectivity for the optical sensor 8 can be formed. Furthermore, the track 2 need not 13 comprise a visible colour at all, but may instead be formed from an infra red reflecting 14 material with a corresponding infra red light source 21 being employed within the optical sensor 8.

17 It is preferable for the track 2 to be formed by a printing process whereby appropriate ink is 18 applied to a thin paper. As a result the racing track 2 can be rolled up or folded for storage 19 or transport purposes and then simply rolled out or unfolded as and when required.

21 The track 2 may be printed on separate paper sections and then laid out as appropriate 22 when required for a race to take place. Such an embodiment would allow for racing tracks 23 2 of different designs to be set up by a user through the reconfiguration of the track 24 sections.

26 It will also be appreciated by those skilled in the art that additional markings 29 may be 27 incorporated within the track 2. These additional markings 29 may be designed to be read 28 by the optical sensor 8, or to obscure the reading process of the optical sensor 8, so as to 29 facilitate additional information e.g. lap timings; to simulate hazards e.g. oil slicks, track debris, gravel pits; or to simulate changing handling conditions requiring a vehicle to make 31 a pit stop e.g. a vehicle puncture or changing weather conditions.

1 Velocity Sensor Control System 3 A control system 30 for controlling the position of the vehicle 1 on the track 2 will now be 4 described with reference to the block diagram of Figure 5 and for a vehicle configured to travel anti-clockwise around the track 2.

7 The controller unit 7 is employed to receive the command signal 25 from the remote 8 control unit 24. The speed control component of the command signal 25 is used to set the 9 speed of operation of the dc electric motor 6 and hence the speed of the vehicle 1 while the track position component is employed by the steering servo (s) to set a desired lateral 11 position for the first optical sensor 8 upon the track 2. For example, if the steering wheel 12 27 is in its zero position then the desired track position for the vehicle 1 is the centre of the 13 track 2. If the steering wheel 27 is turned anticlockwise then a negative signal is 14 generated which corresponding to a track position closer to the inside of the track 2 i.e. a darker area of the track 2. Similarly, if the steering wheel 27 is turned clockwise then a 16 positive signal is generated which corresponding to a track position closer to the outside of 17 the track 2 i.e. a lighter area of the track 2.

19 It will be appreciated by those skilled in the art that by inverting the above arrangement the vehicles 1 can be configured to operate in a clockwise direction around the track 2. In a 21 further alternative embodiment, reversing the lateral graded shading of the track 2 would 22 provide for a clockwise racing configuration.

24 A first subtractor 31 is then employed in a primary feedback path 32 for the steering servo (s) 10. The first subtractor 31 generates an error signal 33 that provides the input for the 26 controller unit 7 by subtracting a primary feedback signal from the track position 27 component of the command signal 25 and so allows for the controller unit 7 to provide a 28 diagnostic of the deviation of the first optical sensor 8 from the desired position. The 29 responsivity of a sensor is given by the relationship between its input and its output. In the presently described control system 30 the responsivity, denoted by Ks, is the relationship 31 between the track positioned measured by the first optical sensor 8 and the output fed to 32 the first subtractor 31. On receiving the error signal 33, the controller unit 7 then attempts 33 to drive the steering servo (s) 10 so as to reposition the front of the vehicle 1 on the track 2 34 so as to minimise the error signal 33. In this way the vehicle 1 will travel around the track 2 while trying to maintain the lateral track position set by the track position component. If 1 the track position component is changed then the vehicle 1 will then attempt to reposition 2 itself on the track 2 to the corresponding new lateral position.

4 As described above, the rate at which the body angle (ba) increases at a given steering angle (sa) and the position of the front of the vehicle (fp) both depend on the speed of the 6 vehicle 1. Thus the loop gain of the control system 30 depends upon the square of the 7 speed of the vehicle 1. It is therefore extremely difficult to tune the controller unit 7 of the 8 control system 30 so as to give a fast and stable response for all vehicle 1 speeds. By 9 way of example, a 1:20 scale vehicle 1 employing a steering servo (s) 10 having a bandwidth of 10 Hz would typically have a mid range speed of 1.5 ms1. Although the 11 control system 30 can be arranged to be stable at this speed of operation its stability 12 quickly deteriorates as the vehicle's speed moves above or below this mid-range value.

14 A solution to this problem is to employ the output of the velocity sensor 9 so as to modify the input to the steering servo (s) 10 from the controller unit 7 and thus compensate for the 16 speed dependency of the forward path gain of the control system 30. The simplest 17 modification is to make the gain of the controller unit 7 vary with the reciprocal of the 18 square of the speed of the vehicle 1. This is achieved by employing a processor unit 34 19 connected between the velocity sensor 9 and the controller unit 7. It is noted however that this solution results in very high controller gains at low vehicle speeds.

22 In an alternative embodiment the processor unit 34 is employed to vary the gain of the 23 controller unit 7 with the reciprocal of the square of the speed of the vehicle 1 only when 24 the vehicle 1 is travelling above a predetermined minimum speed e.g. in the above provided example a suitable minimum speed would be 0.5 ms* 27 Second Optical Sensor Control System 29 In the absence of a further control method the dynamics of the control system 30 are set primarily by the response of the steering servo (s) 10 and thus this system is effectively a 31 forth order, type two system. As is known to those skilled in the art such systems are not 32 particularly stable, and so it can prove difficult for the control system 30 to keep the vehicle 33 1 on the track 2, without further compensation. An alternative embodiment will now be 34 described wherein further stability compensation is achieved through the employment of a second optical sensor located within the vehicle.

2 A vehicle 1 b that incorporates a second optical sensor is presented schematically in Figure 3 6. The vehicle 1 b can be seen to comprise many of the elements of the vehicle 1 4 presented in Figure 1, namely: a main body 3, a set of steerable wheels 4, a set of non-steerable wheels 5, a dc electric motor 6, a controller unit 7, a first optical sensor 8 6 positioned at the front of the vehicle 1 b, and a steering servo (s) 10. However, in the 7 presently described embodiment a second optical sensor 8b is located at the rear of the 8 vehicle lb. Also in the presently described embodiment there is no requirement for the 9 velocity sensor 9.

11 Figure 7 presents a block diagram 35 showing the response of the vehicle lb of Figure 6 12 to the command signal 25 generated by the remote control unit 24. The response block 13 diagram of Figure 7 is similar to that discussed above in connection with the response of 14 the vehicle 1, and as presented in Figure 2, with the exception that an arm 36 representing the position of the rear of the vehicle (rp) is now present.

17 A control system 37 for controlling the position of the vehicle lb upon the track 2 is 18 presented by the block diagram of Figure 8(a) and the equivalent block diagram of Figure 19 8(b). The controller unit 7 is again employed to receive the command signal 25 from the remote control unit 24 so as to set the desired speed and position of the front of the 21 vehicle lb on the track 2. The first subtractor 31 is again employed in a primary feedback 22 path 32 for the steering servo (s) 10 so as to generate an error signal 33 which provides a 23 diagnostic of the deviation of the front of the vehicle 1 from the desired position. The 24 responsivity of on the primary feedback path 32, is again denoted by Ks.

26 In addition, the control system 37 employs a secondary, or local, feedback path 38 to the 27 steering servo (s) 10. The secondary feedback path 38 provides a second subtractor 39 28 located therein with the measured position of the rear of the vehicle (rp). The second 29 subtractor 39 is configured to then provide a secondary feedback signal to the steering servo (s) 10 that equals the difference between the front and rear positions of the vehicle, 31 namely (fp) -(rp).

33 With reference to Figure 6, basic trigonometry shows us that the difference between the 34 front (fp) and rear positions (rp) of the vehicle 1 b on the track 2 is given by the sensor base (sb) multiplied by the sine of the body angle, or put another way: 2 ((fp) -(rp)) = (sb).sin(ba) (1) 4 Therefore, by measuring the front (fp) and rear positions (rp) of the vehicle lb on the track 2, and calculating the difference between these values, allows for a secondary feedback 6 signal to the steering servo (s) 10 that is dependent upon the body angle (ba), rather than 7 just the steering angle (sa). The secondary feedback loop thus acts to minimise the 8 measured body angle so as to keep the vehicle 1 b travelling parallel to the longitudinal 9 axis 28 of the track 2.

11 In addition, since the first time integral block 17 is now contained within the secondary 12 feedback loop this has the effect of converting this block so as to act as an exponential lag 13 rather than a time integration. The control system 37 can therefore be considered a forth 14 order, type one system which, as appreciated by those skilled in the art, is significantly more stable than a fourth order, type two system. Furthermore, the control system 37 16 also reduces the effects of speed on the stability of the system 37 since the part of the 17 system that has a gain which changes with speed is now contained within the local 18 feedback loop.

It will also be appreciated by those skilled in the art that both the steering angle (sa) and 21 body angle (ba) will be typically 30° or less. As a result a further simplification to the 22 control system 37 can be made by exploiting the fact that for small angles 0, sin(O) is 23 approximately equals to 0. A simplified effective control system 37a is therefore presented 24 by the block diagram of Figure 9 wherein the first 14 and second 18 sine blocks are omitted.

27 In practice, it is found to be preferable for the stability of the control systems 37 and 37a if 28 the responsivity on the of the secondary feedback path 38, K1f2, is made to be equal to the 29 reciprocal of the responsivity of the steering servo (5) 10. Together with the negation in the second subtractor 39 this results in the steering angle (sa) being set equal and 31 opposite to the body angle (ba). The secondary feedback loop 38 thus makes the 32 steerable wheels 4 point in the direction that the vehicle lb should be travelling.

34 In the absence of the secondary feedback loop, if the front position of the vehicle (fp) were at the correct position, but the vehicle were at an angle to the track 2 then as soon as the 1 vehicle lb moved forward the front position of the vehicle (fp) would deviate from the 2 desired position before the overall feedback eventually brought it back into line. With the 3 addition of the second sensor 8b at the rear of the vehicle lb and the secondary feedback 4 path 38 the steerable wheels 4 are automatically pointed along the track 2 and as the vehicle lb moves forward the rear position (rp) simply follows the front position (fp) to the 6 correct position across the track 2. Thus it can be considered that the control systems 37 7 and 37b anticipate the impending positional error of the vehicle lb and then takes the 8 necessary action to correct this positional error before it occurs.

Velocity Sensor and Second Optical Sensor Control System 12 In a preferable alternative embodiment the control system for the vehicle employs a 13 combination of both of the above described control systems 30 and 37. By way of 14 example, Figure 10 presents a vehicle lc that incorporates both the velocity sensor 9 and the second optical sensor 8b. The remaining elements of the vehicle ic correspond to 16 those presented in Figure 1 and Figure 6 in connection with the previously described 17 vehicles 1 and lb and are thus marked with corresponding reference numerals.

19 A first control system 40 for controlling the position of the vehicle 1 c upon the track 2 is presented by the block diagram of Figure 11. As with the previously described systems 30 21 and 37, the controller unit 7 is employed to receive the command signal 25 from the 22 remote control unit 24 so as to set the desired speed and position of the front of the 23 vehicle 1 c on the track 2. The first subtractor 31 is then employed in a primary feedback 24 path 32 to the steering servo (s) 10 so as to generate an error signal 33 which provides a diagnostic of the deviation of the front of the vehicle I from the desired position. The 26 responsivity of the primary feedback path 32, is again denoted by Ks.

28 The secondary, or local, feedback path 38 again provides details of the position of the rear 29 of the vehicle (rp) to the second subtractor 39 located between the first controller unit 7 and the steering servo (s) 10. The second subtractor 39 is again configured such that the 31 secondary feedback loop acts to minimise the measured body angle of the vehicle 1 c on 32 the track 2. The responsivity of the the secondary feedback path 38, K1f2, is again 33 preferably made to be equal to the reciprocal of the responsivity of the steering servo (s) 34 10. In order to provide a means for implementing velocity compensation within the 1 secondary feedback loop it should be noted that a second controller unit 7b is located 2 between the second subtractor 39 and the steering servo (s) 10.

4 In the presently described embodiment the gain of the primary feedback loop and the secondary feedback loop are modified by the controller units 7 and 7b so as to vary with 6 the reciprocal of the speed of the vehicle 1 c, rather than the reciprocal of the speed 7 squared, as was required within the control system 30. This is however achieved in a 8 similar manner, namely by employing processor units 34 and 34b connected between the 9 velocity sensor 9 and the first and second controller units 7 and 7b, respectively.

11 In an alternative embodiment the processor units 34 and 34b may be is employed to vary 12 the gain of the primary and secondary feedback loops via the controller units 7 and 7b, 13 respectively, with the reciprocal of the speed of the vehicle ic only when the vehicle ic is 14 travelling above a predetermined minimum speed.

16 A second control system 41 for controlling the position of the vehicle ic upon the track 2 is 17 presented by the block diagram of Figure 12. This embodiment is similar in many respects 18 to the control system 40 presented in Figure 11 and discussed in detail above. The one 19 significant difference is that the second controller unit 7b is omitted such that the variation of the gain of the secondary loop is carried within the feedback path 38 itself. This is a 21 less preferable solution since it requires different processing for the forward path controller 22 7 as changing the feedback path gain of the secondary feedback path 38 changes the 23 closed loop response of the secondary loop, and thus changes the loop gain of the primary 24 loop.

26 It will be appreciated by those skilled in the art that all in of the described embodiments the 27 vehicles the steering servo may be adapted such that instead of varying the angle of the 28 steerable wheels a change in direction of the vehicle is achieved by varying the relative 29 rotation of the wheels.

31 Furthermore, it will be appreciated that although the controller units 7 and 7b, subtractors 32 31 and 39 and the processor units 34 and 34b have all been presented as separate units 33 their functionality may be implemented directly with a single controller unit.

1 The racing vehicle game describe above offers many advantages over those games 2 known on the art. In the first instance a slotless track and vehicle combination is provided 3 whereby the lateral position of a vehicle can be varied such that it can move across the full 4 width of the track. This provides a more realistic racing vehicle game since the operator of the vehicle can manoeuvre it in order to gain a tactical advantage (e.g. to overtake or 6 nudge an opponent or to protect a racing line) but without having to steer the car around 7 the track.

9 Secondly, if a vehicle does comes off of the track it can simply be driven back on and the operation of the control system for the vehicle on the track resumes. Thus, unlike slot cars 11 there is no need for an operator to physically reposition their vehicle on the track in order 12 for racing to resume.

14 The track itself also offers a number of significant advantages. In the first instance there is no limit to the number of vehicles that may be raced since there are no predetermined 16 slots required for the operation of a vehicle. The track is highly flexible allowing for simple 17 storage, transportation and deployment. The track is simple to produce and so 18 significantly more cost effective than traditional slotted tracks known in the art. Finally the 19 track allows for the incorporation of additional racing hazards such as oil slicks, track debris, gravel pits or variable weather conditions.

22 The foregoing description of the invention has been presented for purposes of illustration 23 and description and is not intended to be exhaustive or to limit the invention to the precise 24 form disclosed. The described embodiments were chosen and described in order to best explain the principles of the invention and its practical application to thereby enable others 26 skilled in the art to best utilise the invention in various embodiments and with various 27 modifications as are suited to the particular use contemplated. Therefore, further 28 modifications or improvements may be incorporated without departing from the scope of 29 the invention as defined by the appended claims.