JP2016059664A - Travel information collection process apparatus and travel information collection process method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a travel information collection process apparatus and a travel information collection process method, which are capable of appropriately reproducing the behavior of a vehicle when changing travel directions, in reproducing the travel of the vehicle on the basis of information obtained by the vehicle actually traveling on a travel road.SOLUTION: An apparatus performs: obtaining travel information during travel on a traveling vehicle 10, including a steering angle, a rotation speed of at least one of two left wheels or two right wheels of the four wheels, a travel road and a position of the vehicle; referring to the travel information and detecting a rotation speed ratio that is a ratio of a front-wheel rotation speed to a rear-wheel rotation speed of the left and/or right wheels; then referring to the travel information and the rotation speed ratio and, in the case of determining that the rotation speed ratio is within a given range set in accordance with a drive scheme of the vehicle in a section where the travel road of the vehicle is in a curve section, determining that a rear wheel drift occurred in which the vehicle changes travel directions while a rear wheel tire is slipping in the section; and generating travel history data reproducing an actual travel of the vehicle.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a travel information collection processing device and a travel information collection processing method for reproducing the travel behavior of a vehicle based on the travel information of the vehicle.

  A technique is known that collects travel information related to a vehicle that actually travels on a travel course and inputs the information to a game machine to reproduce the travel behavior of the vehicle on the travel course by image display (Patent Document 1). .

JP 2010-142300 A

  However, since the above technique only indicates the travel position of the vehicle on the travel course, the method by which the vehicle is actually bent on the curve of the travel course, that is, the vehicle slips the tire. Therefore, there is a problem that it is impossible to determine whether the vehicle is bent due to grip traveling or whether the vehicle is bent due to drift traveling by slipping a tire, and thus the traveling behavior of the vehicle cannot be appropriately reproduced.

  The problem to be solved by the present invention is to appropriately reproduce the traveling behavior when the vehicle changes the traveling direction when reproducing the traveling behavior of the vehicle based on the information acquired from the vehicle actually traveling on the traveling path. It is to provide a travel information collection processing device and a travel information collection processing method that can be performed.

  In the present invention, when a four-wheeled vehicle travels in a traveling direction change section such as a curve, the rotational speed ratio, which is the ratio of the rotational speed of the left and / or right front wheels of the vehicle and the rotational speed of the rear wheels, is 4 When in a predetermined range set according to the driving method of the wheeled vehicle, a rear wheel drift that changes the traveling direction while the tires of the rear wheels of the four-wheeled vehicle slip occurred in the traveling direction change section. The above-described problem is solved by generating travel history data that reproduces the actual travel of the four-wheel vehicle by determining that the vehicle is a vehicle.

  According to the present invention, since the presence or absence of rear wheel drift is determined based on the above-described rotation speed ratio and the driving method of the four-wheel vehicle, the traveling behavior of the vehicle can be appropriately reproduced.

It is a block diagram which shows one Embodiment of the driving | running | working information collection processing system to which the driving | running | working information collection processing apparatus and method which concern on this invention are applied. It is a top view which shows the example which performs the rear-wheel drift driving | running | working which a vehicle slips only a rear wheel. It is a graph which shows an example of a measurement result of wheel speed when a 4-wheel drive vehicle performs rear-wheel drift running. It is a graph which shows an example of the measurement result of the wheel speed at the time of a rear-wheel drive vehicle performing rear-wheel drift driving. It is a flowchart which shows an example of the control procedure which reproduces driving | running | working of a vehicle based on the log information acquired from the vehicle.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a configuration diagram of a travel information collection processing system 1 of the present embodiment. As shown in FIG. 1, the travel information collection processing system 1 of the present embodiment includes a vehicle 10, a storage medium 20, and a computer 30. The travel information collection processing system 1 of the present embodiment transmits travel information such as the position, vehicle speed, and steering angle of the vehicle 10 when the vehicle 10 actually travels on the road surface from the vehicle 10 to the computer 30 via the storage medium 20. Then, the computer 30 reproduces the traveling of the vehicle with the video and the traveling sound based on the inputted traveling information.

First, the vehicle 10 of this embodiment is demonstrated.
The vehicle 10 of the present embodiment is a four-wheeled vehicle whose front wheels are steering wheels, and as shown in FIG. 1, a vehicle controller 11, a communication device 12, a GPS (Global Positioning System) signal receiver 13, A sensor 14, a drive device 15, a steering device 16, and a storage device 17 are provided. The devices constituting the vehicle 10 are connected by a CAN (Controller Area Network) or other in-vehicle LAN in order to exchange information with each other. The driving method of the vehicle 10 is not particularly limited, and examples thereof include 4WD (4 Wheel Drive), FR (Front Engine Rear Drive), FF (Front Engine Front Drive), RR (Rear Engine Rear Drive), and midship. It is done.

  In the vehicle 10 of the present embodiment, the vehicle controller 11 stores the position information of the vehicle 10 acquired by the GPS signal receiver 13 and the traveling information such as the vehicle speed and the steering angle of the vehicle 10 acquired by the sensor 14 as log information. When the storage medium 20 is stored in the device 17 and connected to the communication device 12, the log information of the vehicle 10 is written to the storage medium 20.

  Hereinafter, each device constituting the vehicle 10 will be described.

  The GPS signal receiver 13 of the present embodiment acquires information on the current position of the vehicle 10 by receiving a radio signal transmitted from a positioning satellite. Since the GPS signal includes time information, it may be acquired. However, time information may be acquired from a clock provided in the vehicle controller 11.

  The sensor 14 of this embodiment includes a steering angle sensor 141, a vehicle speed sensor 142, and a wheel speed sensor 143. The steering angle sensor 141 detects steering information related to steering such as the steering amount, steering speed, and steering acceleration of the vehicle 10. The vehicle speed sensor 142 detects the vehicle speed and acceleration of the vehicle 10. The wheel speed sensor 143 detects the rotational speeds of the left front wheel, the left rear wheel, the right front wheel, and the right rear wheel of the vehicle 10 that is a four-wheeled vehicle. Examples of the unit of the rotational speed include rpm (rotation per minute) and angular speed (rad / sec). Further, the sensor 14 detects other information related to the traveling of the vehicle 10 such as the engine speed by various sensors (not shown). Note that the steering amount may be detected by the steering angle sensor 141, the steering speed or the steering acceleration may be calculated by the vehicle controller 11, the vehicle speed may be detected by the vehicle speed sensor 142, and the acceleration may be calculated by the vehicle controller 11.

  The drive device 15 of this embodiment includes a drive mechanism for the vehicle 10. The drive mechanism includes an electric motor and / or internal combustion engine that is a travel drive source of the vehicle 10, a power transmission device that includes a drive shaft, an automatic transmission, and a differential device that transmit output from the travel drive source to drive wheels, And a braking device for braking the wheel. In the present embodiment, the vehicle controller 11 generates a control signal for controlling the drive device 15 based on input signals by the driver's accelerator operation, brake operation, and shift operation, and in response to the control signal, the drive device 15 The traveling control including acceleration / deceleration of the vehicle is executed. In the case of a hybrid vehicle, control information relating to torque distribution output to each of the electric motor and the internal combustion engine corresponding to the traveling state of the vehicle is also sent to the driving device 15.

  The steering device 16 according to the present embodiment includes a steering wheel (handle) operated by a driver, a steering column coupled to the steering, a steering gear mechanism such as a rack and pinion coupled to the steering column, and the steering gear. A steering link mechanism provided between the mechanism and the steering wheel. In the present embodiment, the steered wheels operate via these mechanical mechanisms based on the rotation operation of the driver's steering wheel.

  In the present embodiment, as a method for controlling the traveling direction of the vehicle 10, the traveling direction of the vehicle 10 is determined by the difference in rotational speed between the left and right driving wheels using the driving device 15, such as drift traveling, in addition to using the steering device 16. The method of controlling is also mentioned.

  The vehicle controller 11 of this embodiment is an in-vehicle computer such as an engine control unit (ECU), and electronically controls the driving state of the vehicle. Examples of the vehicle of the present embodiment include an electric vehicle including an electric motor as a travel drive source, an engine vehicle including an internal combustion engine as a travel drive source, and a hybrid vehicle including both the electric motor and the internal combustion engine as a travel drive source. Note that electric vehicles and hybrid vehicles using an electric motor as a driving source include a type using a secondary battery as a power source for the electric motor and a type using a fuel cell as a power source for the electric motor.

  In addition, the vehicle controller 11 according to the present embodiment collects travel information acquired by the GPS signal receiver 13 and the sensor 14 as log information and stores it in the storage device 17. Specifically, the vehicle controller 11 acquires position information corresponding to the time of the vehicle 10 from the GPS signal receiver 13, and the steering amount, steering speed, steering acceleration, vehicle speed, acceleration, wheel speed of the vehicle 10 from the sensor 14. Information such as the engine speed is acquired and stored in the storage device 17 as log information.

  Furthermore, the vehicle controller 11 also acquires travel information related to the driving operation of the driver such as an accelerator operation, a brake operation, a shift operation, and a steering operation by the driver of the vehicle 10 and stores this in the storage device 17 as log information.

  And in this embodiment, when the storage medium 20 which is an external storage device is connected to the communication device 12 of the vehicle 10, the vehicle controller 11 can communicate with the communication device 12 and the storage medium 20. The log information stored in the storage device 17 is transmitted to and stored in the storage medium 20.

  Note that the storage medium 20 of the present embodiment is not particularly limited, and examples thereof include an external storage device such as a flash memory, a hard disk, and an optical disk. In addition to being able to exchange data with the communication device 12 of the vehicle 10, the storage medium 20 of the present embodiment can also exchange data with the communication device 32 of the computer 30 and stored in the storage medium 20. Log information of the vehicle 10 is transmitted and stored in the storage device 33 of the computer 30 via the communication device 32. In this embodiment, the storage medium 20 may communicate with the communication device 12 of the vehicle 10 or the communication device 32 of the computer 30 by either wired communication or wireless communication. For example, USB or wireless communication that is wired communication may be used. Communication is WiFi (registered trademark), Bluetooth (registered trademark), or the like. Further, the storage medium 20 may be omitted, and the above-described log information may be transmitted by connecting the communication device 12 of the vehicle 10 and the communication device 32 of the computer 30 via a wired or wireless line.

Next, the computer 30 of this embodiment will be described.
The control device 31 of the computer 30 includes a ROM (Read Only Memory) 312 in which a program for reproducing traveling of the vehicle 10 based on log information of the vehicle 10 is stored, and an operation control circuit for executing the program stored in the ROM 312. A CPU (Central Processing Unit) 311 and a RAM (Random Access Memory) 313 functioning as an accessible storage device.

  The control device 31 of the computer 30 of the present embodiment includes an acquisition function that acquires log information of the vehicle 10 from the storage medium 20, a detection function that detects a rotation speed ratio between the front wheels and the rear wheels in the vehicle 10, and the vehicle 10 A determination function for determining whether or not drift traveling has been performed, a traveling history data generation function for generating data for reproducing the traveling of the vehicle 10, and reproduction for reproducing the traveling of the vehicle 10 and reproducing it with video and traveling sound With functions. The control device 31 of the present embodiment executes each function by cooperation of software for realizing the above function and the above-described hardware.

Hereinafter, each function of the control device 31 according to the present embodiment will be described.
First, the acquisition function of the control device 31 will be described. When the storage medium 20 described above is connected to the communication device 32 of the computer 30, the control device 31 copies the log information of the vehicle 10 stored in the storage medium 20 to the storage device 33 of the computer 30. To remember.

Next, the detection function of the control device 31 will be described. The control device 31 extracts the rotational speed of each wheel (left front wheel, left rear wheel, right front wheel, and right rear wheel) of the vehicle 10 from the log information of the vehicle 10 stored in the storage device 33. Then, the control device 31 determines a left wheel rotation speed ratio (RT _LR / RT _LF ) that is a ratio of the rotation speed RT _LR of the left rear wheel to the rotation speed RT _LF of the left front wheel based on the rotation speed of each wheel of the vehicle 10. The right wheel rotation speed ratio (RT _RR / RT _RF ), which is the ratio of the right rear wheel rotation speed RT _{RR to} the right front wheel rotation speed RT _RF , is detected.

Next, the determination function of the control device 31 will be described. Based on the left wheel rotation speed ratio (RT _LR / RT _LF ) and right wheel rotation speed ratio (RT _RR / RT _RF ) detected by the detection function, the control device 31 travels in a travel direction change section such as a curve. It is determined whether or not the vehicle has drifted.

Here, in the present embodiment, the control device 31 uses only the position information of the vehicle 10 included in the log information described above, and the vehicle 10 slips the tire when the vehicle 10 changes the travel direction in the travel direction change section. It is not possible to determine whether the vehicle has gripped without making it, or whether the vehicle 10 has drifted with the tire slipped. Therefore, the control device 31 detects the idling of the tire of the vehicle 10 based on the left wheel rotation speed ratio (RT _LR / RT _LF ) and the right wheel rotation speed ratio (RT _RR / RT _RF ) described above, and the vehicle 10 It is determined whether or not the vehicle has drifted.

  In the present embodiment, the drift traveling refers to changing the direction of the vehicle body while the tire of any wheel of the vehicle 10 slips with respect to the road surface. And the control apparatus 31 of this embodiment slips the tire of a rear wheel (a left rear wheel and a right rear wheel) mainly among this drift driving | running | working, and relatively compares the tire of a front wheel (a left front wheel and a right front wheel). Whether or not the vehicle 10 has performed drift travel (hereinafter referred to as rear wheel drift travel) that changes the direction of the vehicle body by utilizing the centrifugal force of the vehicle body with the front wheel being substantially the center of rotation while reducing the slip amount. Determine whether.

Here, FIG. 2 is a top view continuously showing the vehicle 10 that has traveled rear-wheel drifting along the curve of the travel path. FIG. 2 shows four tires (left front tire LF, left rear tire LR, right front tire RF, and right rear tire RR) provided in the vehicle 10, and the left front tire LF and the right front tire in the vehicle length direction of the vehicle 10 are shown. The angle of RF indicates the steering angle based on the driver's steering operation. Further, in FIG. 2, tires that are recognized as slipping with respect to the road surface are marked with a cross. Here, as a tire recognized as slipping with respect to the road surface, for example, an actual tire with respect to the vehicle speed v ₁ in the tire rotation direction obtained from the rotation speed of the tire when the tire is gripping the road surface There are tires in which the ratio (v ₂ / v ₁ ) of the vehicle speed v _{2 in} the rotational direction is equal to or less than a predetermined value. In FIG. 2, the route traveled by the vehicle 10 is indicated by a broken line.

  In the present embodiment, when the vehicle 10 performs the rear wheel drift traveling as shown in FIG. 2, traveling information at the time of the rear wheel drift traveling is acquired as log information by the vehicle 10 and is stored via the storage medium 20. And stored in the computer 30. Then, the computer 30 reproduces the traveling of the vehicle 10 with a video and a traveling sound based on the log information by a reproduction function described later. For that purpose, the behavior of the vehicle 10 is reproduced more accurately based on the log information. Is required.

Here, as described above, the control device 31 determines whether the vehicle 10 has performed the grip traveling in the scene in which the traveling direction of the vehicle 10 has changed, depending on only the position information of the vehicle 10 included in the log information, or the rear wheel drift traveling. I can't judge whether I did it. Therefore, the control device 31 detects the idling of the tire of the vehicle 10 based on the left wheel rotation speed ratio (RT _LR / RT _LF ) and the right wheel rotation speed ratio (RT _RR / RT _RF ) described above, and the vehicle 10 It is determined whether or not the rear wheel drift travels.

Specifically, the control device 31 changes the left wheel rotation speed ratio (RT _LR / RT _LF ) and the right wheel rotation speed ratio (RT _RR ) in a scene where the vehicle 10 changes the traveling direction in a traveling direction changing section such as a curve. / RT _RF ) determines that the vehicle 10 has made the rear wheel drift travel when at least one is within the predetermined range.

Here, FIGS. 3A to 3F show a case where a four-wheel drive vehicle (vehicle 10) having a drive system of 4WD performs rear wheel drift traveling a plurality of times while actually traveling on a course. It is a graph which shows the rotational speed etc. of each wheel. Specifically, FIG. 3A shows the rotation speed RT _{RF of} the right front wheel, FIG. 3B shows the rotation speed RT _RR of the right rear wheel, and FIG. _3D shows the rotation speed RT _{LF of} the left front wheel. (E) indicates respectively a rotational speed _{RT LR} of the left rear wheel. In the graph, the horizontal axis indicates the time that the four-wheel drive vehicle has traveled, and the vertical axis indicates the rotational speed (rpm) of the wheel.

FIG. 3C shows a right wheel rotational speed ratio (RT _RR / RT _RF ), which is a ratio of the rotational speed RT _RR to the rotational speed RT _RF obtained from FIGS. 3A and 3B. 3 (F) shows the left wheel rotational speed ratio (RT _LR / RT _LF ), which is the ratio of the rotational speed RT _LR to the rotational speed RT _LF obtained from FIGS. 3 (D) and (E). In FIG. 3F, the timing at which the four-wheel drive vehicle actually performs the rear wheel drift traveling on the right curve while traveling on the course is indicated by an arrow.

In the example of the four-wheel drive vehicle shown in FIGS. 3 (A) to 3 (F), the control device 31 uses the right wheel rotational speed ratio (RT _RR / RT _RF ) and the left wheel rotational speed ratio (RT _LR / Based on the information of (RT _LF ), the timing at which the four-wheel drive vehicle has performed the rear wheel drift traveling is determined. Specifically, as shown in FIGS. 3C and 3F, the control device 31 performs a right wheel rotation speed ratio (RT _RR / RT _RF ) and a left wheel rotation speed ratio (RT _LR / RT _LF ). Is in a predetermined range (a range defined by the lower limit threshold value T _low and the upper limit threshold value T _hi in FIGS. 3C and _3F ) when the four-wheel drive vehicle travels in the rear wheel drift mode. It is determined that it is the timing when

In the examples of FIGS. 3C and 3F, the right wheel rotation speed ratio (RT _RR / RT _RF ) and the left wheel rotation speed ratio (RT _LR / RT _LF ) are set within a predetermined short time. Even when it is detected a plurality of times that the vehicle has entered the predetermined range T _{low to} T _hi , it is determined that one rear wheel drift travel has been performed. The predetermined short time is a normal time required for the vehicle 10 to bend a curve, and examples thereof include 5 to 10 seconds. As a result, the right wheel rotational speed ratio (RT _RR / RT _RF ) and the left wheel rotational speed ratio (RT _LR / RT _LF ) are within a predetermined range T _{low to} T _hi during one rear wheel drift run. Even when detected multiple times, it is determined that the four-wheel drift traveling has been performed once, and the rear wheel drift traveling of the vehicle 10 can be detected more appropriately.

In the present embodiment, the above-described lower limit threshold T _low that defines the predetermined range is a threshold for determining whether or not the wheel of the vehicle 10 is idling. That is, when at least one of the left wheel rotation speed ratio (RT _LR / RT _LF ) and the right wheel rotation speed ratio (RT _RR / RT _RF ) is equal to or greater than the lower limit threshold T _low , the control device 31 It is determined that the rear wheel (left rear wheel and / or right rear wheel) is idling.

The lower limit threshold T _low can be set as appropriate according to the characteristics of the vehicle 10, the state of the road surface on which the vehicle 10 has traveled, and the like. Specifically, the lower limit threshold T _low is characteristic information of the vehicle 10 (information such as vehicle body weight, driving method, vehicle center of gravity position, wheel base, tire width, etc.) and information on a travel path on which the vehicle 10 has traveled (for example, It can be set according to the course layout of the circuit on which the vehicle 10 has traveled, information on the type of road surface, and the like. Thereby, the rear wheel drift traveling of the vehicle 10 can be detected more appropriately according to the characteristics of the vehicle 10.

For example, the lower limit threshold T _low can be set as follows.

First, when the driving method of the vehicle 10 is FR, RR, and rear wheel drive midship, the rotational speed of the rear wheel of the vehicle 10 tends to be relatively high (that is, the left wheel rotational speed ratio (RT _LR / RT _LF ) and right wheel rotation speed ratio (RT _RR / RT _RF ) tend to be large values), and therefore the lower limit threshold T _low is set to a larger value than when the driving method is 4WD.

In addition, the lower limit threshold T _low is set to a larger value as the wheel base of the vehicle 10 is longer. This is because the longer the wheelbase of the vehicle 10, the greater the centrifugal force of the vehicle body with the front wheel of the vehicle 10 being substantially the center of rotation when the vehicle 10 actually travels in the rear wheel drift. This is because the wheel slips and becomes easy to idle, and the rotational speed of the rear wheel of the vehicle 10 becomes relatively high.

Further, in the vehicle 10, the lower limit threshold T _low is set to a larger value as the ratio of the rear wheel tire width to the front wheel tire width (rear wheel tire width / front wheel tire width) is smaller. That is, as the tire width of the rear wheel becomes relatively smaller, the frictional force between the tire of the rear wheel and the road surface becomes smaller, so the rear wheel of the vehicle 10 slips when the vehicle 10 actually travels in the rear wheel drift. This is due to the idling of the vehicle 10 and the relatively high rotational speed of the rear wheels of the vehicle 10.

On the other hand, the above-described upper limit threshold value T _hi that defines the predetermined range is set in order to distinguish whether the idling of the wheel of the vehicle 10 is due to the rear wheel drift running or the simple idling at the start of the vehicle 10. This is the threshold value. That is, when the vehicle 10 starts, the rear wheels of the vehicle 10 are likely to idle, and the left wheel rotational speed ratio (RT _LR / RT _LF ) and the right wheel rotational speed ratio (RT _RR / RT _RF ) described above are The vehicle 10 tends to be higher than during the rear wheel drift traveling. This tendency becomes more prominent when the driving method of the vehicle 10 is rear wheel drive (FR, RR, rear wheel drive midship). Therefore, the control device 31 determines that the vehicle 10 is in the state where at least one of the left wheel rotation speed ratio (RT _LR / RT _LF ) and the right wheel rotation speed ratio (RT _RR / RT _RF ) exceeds the upper threshold value T _hi . By determining that the idling of the wheels is not due to the rear wheel drift running but due to the idling when the vehicle 10 is started, erroneous determination of the rear wheel drift running of the vehicle 10 is prevented, and the rear wheel drift running is prevented. Detection accuracy is improved.

The upper threshold value T _hi may be set so that it is possible to detect the idling of the wheel due to the start of the vehicle 10. For example, as with the lower threshold value T _low described above, the characteristic information (vehicle weight, driving method, It can be set according to information on the vehicle center of gravity position, wheel base, tire width, etc., information on the travel path on which the vehicle 10 traveled (for example, information on the course layout of the circuit on which the vehicle 10 traveled, the type of road surface, etc.), etc. . A specific value of the upper limit threshold T _hi can be set to 2.00, for example.

In the present embodiment, the left wheel rotation speed ratio (RT _LR / RT _LF ) and the right wheel rotation speed ratio (RT _RR / RT _RF ) are changed when the vehicle 10 changes the traveling direction in a traveling direction changing section such as a curve. If it is within the predetermined range set in this way, it is determined that the vehicle 10 has traveled in the rear wheel drift in the travel direction change section.

The lower limit threshold value _{T low,} for example, when the vehicle 10 is a four-wheel-drive vehicle (a vehicle 4WD), it is preferable to set the lower threshold _{T low} to 1.15, the vehicle 10 is rear-wheel drive vehicle It has been verified by the present inventors that the lower limit threshold T _low is preferably set to 1.40 in the case of (FR, RR, rear wheel drive midship vehicle, etc.). Regarding the lower limit threshold T _low , the values of the left wheel rotation speed ratio (RT _LR / RT _LF ) and the right wheel rotation speed ratio (RT _RR / RT _RF ) when the vehicle 10 travels in the rear wheel drift state are particularly determined by driving the vehicle 10. Since it changes greatly according to the method, the rear wheel drift traveling can be detected more appropriately by setting the lower limit threshold value T _low for each driving method of the vehicle 10.

4 (A) to 4 (F) show the rotational speed and rotational speed of each wheel when a rear-wheel drive vehicle whose drive system is FR actually travels on the rear wheel while traveling on the course. It is a graph which shows ratio. Specifically, FIGS. 4 (A) to 4 (F) are similar to FIGS. 3 (A) to 3 (F) described above, and FIG. 4 (A) is the rotation speed RT _{RF of} the right front wheel. 4 (B) is the rotation speed RT _RR of the right rear wheel, FIG. 4 (C) is the right wheel rotation speed ratio (RT _RR / RT _RF ) obtained from FIGS. 4 (A) and (B), and FIG. 4 (D). Is the left front wheel rotation speed RT _LF , FIG. 4E is the left rear wheel rotation speed RT _LR , and FIG. 4F is the left wheel rotation speed ratio (RT _LR / RT _LF ) respectively. In FIGS. 4C and 4F, the timing at which the rear-wheel drive vehicle actually performs the rear-wheel drift traveling on the right curve or the left curve while traveling on the course is indicated by an arrow.

As shown in FIGS. 4 (C) and 4 (F), when the rear wheel drive vehicle performs the rear wheel drift traveling, the rear wheel of the 4WD vehicle shown in FIGS. 3 (C) and 3 (F). Compared to drift running, the left wheel rotation speed ratio (RT _LR / RT _LF ) and right wheel rotation speed ratio (RT _RR / RT _RF ) peaks.

Therefore, in the present embodiment, when the vehicle 10 is a rear wheel drive vehicle, the lower limit threshold T _low is set to a larger value than when the vehicle 10 is a four wheel drive vehicle. Further, when the vehicle 10 is a rear wheel drive vehicle, the upper limit threshold T _hi may be set to a larger value than when the vehicle 10 is a four wheel drive vehicle. Thereby, the lower limit threshold T _low and the upper limit threshold T _hi become appropriate values according to the driving method of the vehicle 10, and the rear wheel drift travel of the vehicle 10 can be detected more appropriately.

  Note that the above-described rear wheel drift traveling is not limited to the shape of the traveling path on which the vehicle 10 travels, and is not only drift traveling that changes the direction of the vehicle body on the curve of the traveling path, but also the direction of the vehicle body on the straight road by 180 °. Also includes changing drift driving.

  The control device 31 of this embodiment determines the rear wheel drift travel of the vehicle 10 as described above.

According to the present embodiment, the controller 31 changes the left wheel rotation speed ratio (RT _LR / RT _LF ) and the right wheel rotation speed ratio (in the scene where the vehicle 10 changes the traveling direction in a traveling direction changing section such as a curve). When at least one of (RT _RR / RT _RF ) is within the predetermined range, it is determined that the vehicle 10 has made the rear wheel drift travel. Thus, the occurrence of rear wheel drift traveling of the vehicle 10 is appropriately detected, and the behavior of the vehicle 10 is reproduced when reproducing the traveling of the vehicle 10 based on the log information acquired from the vehicle 10 actually traveling on the road surface. Can be reproduced appropriately.

In the present embodiment, the control device 31 has a left wheel rotational speed ratio (RT _LR / RT _LF ) and a right wheel rotational speed ratio (RT _RR / RT _RF ) both within the predetermined range T _{low to} T _hi . Only in this case, it may be determined that the vehicle 10 has traveled the rear wheel drift. As a result, even if the right rear wheel or the left rear wheel suddenly slips, such as when part of the road surface is slippery due to freezing or the like, the left wheel rotational speed ratio (RT _LR / RT _LF ) and The presence / absence of rear wheel drift traveling is determined based on both the right wheel rotational speed ratio (RT _RR / RT _RF ), and the presence / absence of rear wheel drift traveling can be more reliably determined.

In the present embodiment, the control device 31 may start determining whether or not the rear wheel drift travels after a predetermined time from the start of the vehicle 10. When the rear wheel of the vehicle 10 idles when the vehicle 10 starts, the left wheel rotation speed ratio (RT _LR / RT _LF ) and the right wheel rotation speed ratio (RT _RR / RT _RF ) are usually set at the upper limit described above. Since the threshold value T _hi is exceeded, the idling of the rear wheel at the time of starting is not determined to be the rear wheel drift travel, but the presence or absence of the rear wheel drift travel after a predetermined time from the start of the vehicle 10 By starting the determination, the determination accuracy of the rear wheel drift traveling is further improved.

In the present embodiment, when the determination of the presence / absence of the rear wheel drift travel is started after a predetermined time from the start of the vehicle 10, the vehicle 10 may be in a curve or the like without setting the upper limit threshold T _hi described above. When the traveling direction is changed in the traveling direction changing section, at least one of the left wheel rotational speed ratio (RT _LR / RT _LF ) and the right wheel rotational speed ratio (RT _RR / RT _RF ) is equal to or greater than the lower limit threshold T _low described above. In this case, it may be determined that the rear wheel drift travel has been performed.

  Next, the travel history data generation function of the control device 31 will be described. The control device 31 reproduces the traveling of the vehicle 10 based on the log information of the vehicle 10 acquired by the acquisition function described above and the information on the presence / absence of the rear wheel drift traveling determined by the determination function described above. Generate travel history data.

  In the present embodiment, the travel history data includes, for example, the position of the vehicle 10, the steering amount, the steering speed, the steering acceleration, the vehicle speed, the acceleration, the wheel speed, and the engine speed information, and the accelerator operation, brake operation, and shift by the driver. Information on operation and steering operation is included.

  Further, in the travel history data, information on the vehicle 10 (for example, information such as a vehicle type, a vehicle body shape, a vehicle body weight, a vehicle center of gravity position, a wheel base, a tire width, etc.) and information on a travel path on which the vehicle 10 has traveled (for example, Information on the course layout of the circuit on which the vehicle 10 traveled, the type of road surface, the background around the course, etc.) is also included. The information on the vehicle type of the vehicle 10 and the information on the travel route on which the vehicle 10 traveled are stored in advance in the storage device 33 of the computer 30, and the control device 31 refers to the log information of the vehicle 10 and stores the information. You may make it read from the apparatus 33 suitably.

  Next, the playback function of the control device 31 will be described. The control device 31 reproduces the travel of the vehicle 10 based on the travel history data generated by the travel history data generation function, and outputs it by the output device 34.

  For example, a case where travel history data is generated based on log information when the vehicle 10 travels on a circuit will be described as an example. First, the control device 31 uses the travel history data to determine information on a circuit on which the vehicle 10 has traveled. And 3D data reproducing the course layout and background of the corresponding circuit is read out from the storage device 33 or the like. Next, the control device 31 reads out information on the vehicle type of the vehicle 10 from the travel history data, and reads out 3D data reproducing the vehicle corresponding to the information from the storage device 33 or the like.

  Further, the control device 31 reads the log information of the vehicle 10 from the travel history data, and based on the log information, the position, steering amount, steering speed, steering acceleration, Parameters such as vehicle speed, acceleration, wheel speed, engine speed, accelerator operation, brake operation, shift operation, and steering operation are input to generate an image in which a 3D data vehicle travels on a 3D data circuit. In particular, in the present embodiment, the rear wheel drift travel of the vehicle 10 is reproduced based on the determination result of the presence or absence of rear wheel drift travel by the determination function of the control device 31.

  At the same time, the control device 31 synchronizes with the above-described video based on the wheel speed of the vehicle 10, the engine speed of the vehicle 10, information on the road surface of the circuit on which the vehicle 10 traveled, etc. Ten driving sounds (engine sound, sound when the tire travels on the road surface, and squealing noise when the tire and the road surface rub) are generated. In particular, in the present embodiment, a squeal sound generated by drift traveling is generated at a timing when it is determined by the determination function of the control device 31 that the vehicle 10 has performed rear wheel drift traveling.

  The control device 31 displays the generated video on the display 341 of the output device 34 and reproduces the generated traveling sound from the speaker 342. As a result, according to the present embodiment, the behavior of the vehicle 10 actually drifting with the rear wheel is accurately reproduced with the reproduced video and traveling sound, and the user can view the reproduced video and traveling sound. A feeling and satisfaction can be given. In particular, when the driver who drives the vehicle 10 appreciates the video and sound that reproduces the traveling of the vehicle 10, the driver feels that his driving is faithfully reproduced and is more satisfied. Can be obtained.

  In the present embodiment, as described above, the traveling history data in which the presence or absence of the rear wheel drift traveling is appropriately determined is generated by the control device 31 of the computer 30 based on the log information of the vehicle 10. The traveling of the vehicle 10 is faithfully reproduced.

  Next, an example of a method of collecting log information of the vehicle 10 by the travel information collection processing system 1 of the present embodiment and reproducing the travel of the vehicle 10 based on the collected log information with reference to the flowchart of FIG. Will be explained. FIG. 5 shows control of the vehicle 10, the storage medium 20, and the computer 30, respectively.

  In step S101, the vehicle controller 11 of the vehicle 10 obtains position information corresponding to the time of the vehicle 10 from the GPS signal receiver 13, and the steering amount, steering speed, steering acceleration, vehicle speed, acceleration, wheel speed of the vehicle 10 from the sensor 14. Information such as the engine speed is acquired, and the acquired information is stored in the storage device 17 as log information.

  In step S102, when the vehicle controller 11 of the vehicle 10 detects that the storage medium 20 is connected to the communication device 12 of the vehicle 10, the log information stored in the storage device 17 in step S101 is stored in the storage medium. 20 is transmitted.

  In step S103, the storage medium 20 stores the log information transmitted from the vehicle 10 in step S102.

  In step S <b> 104, when the storage medium 20 detects that the storage medium 20 is connected to the communication device 32 of the computer 30, the storage medium 20 transmits the log information stored in step S <b> 103 to the computer 30.

  In step S105, the control device 31 of the computer 30 stores the log information transmitted from the storage medium 20 in step S104.

In step S106, when the vehicle 10 travels in a travel direction change section such as a curve, the control device 31 of the computer 30 causes the left wheel rotation speed ratio (RT _LR / RT _LF ) and the right wheel rotation speed ratio (RT _RR / RT). _RF ) is determined whether at least one is within a predetermined range. Here, the predetermined range is a range defined by the lower limit threshold T _low and the upper limit threshold T _hi as described above.

If it is determined in step S106 that at least one of the left wheel rotational speed ratio (RT _LR / RT _LF ) and the right wheel rotational speed ratio (RT _RR / RT _RF ) in the travel direction change section is within the predetermined range. Proceeding to step S107, in step S107, the control device 31 of the computer 30 generates the above-described travel history data on the assumption that the rear wheel drift travel has been performed in the travel direction change section.

  In step S108, the control device 31 of the computer 30 generates a traveling image of the vehicle 10 in which the squeal noise of the rear wheel drift traveling is added to the timing when it is determined in step S107 that the rear wheel drift traveling has been performed, and the output device 34.

On the other hand, if it is determined in step S106 that neither the left wheel rotational speed ratio (RT _LR / RT _LF ) nor the right wheel rotational speed ratio (RT _RR / RT _RF ) is within the predetermined range in the travel direction change section. The process proceeds to step S109. In step S109, contrary to step S107 described above, the control device 31 of the computer 30 assumes that rear wheel drift travel has not been performed in the travel direction change section, that is, grips in the travel direction change section. The traveling history data described above is generated as a result of traveling.

  In step S <b> 110, the control device 31 of the computer 30 generates a traveling image of the vehicle 10 without adding a squeal sound of the rear wheel drift traveling, and outputs it from the output device 34.

  Since the travel information collection processing system 1 of the present embodiment is configured and operates as described above, the following effects can be obtained.

[1] According to the travel information collection processing system 1 of the present embodiment, the left wheel rotation speed ratio (RT _LR / RT _LF ) and the right are detected when the vehicle 10 changes the travel direction in a travel direction change section such as a curve. When at least one of the wheel rotation speed ratios (RT _RR / RT _RF ) is within a predetermined range, it is determined that the vehicle 10 has traveled the rear wheel drift. Thus, the occurrence of rear wheel drift traveling of the vehicle 10 is appropriately detected, and the behavior of the vehicle 10 is reproduced when reproducing the traveling of the vehicle 10 based on the log information acquired from the vehicle 10 actually traveling on the road surface. Can be reproduced appropriately.

[2] According to the travel information collection processing system 1 of the present embodiment, when the vehicle 10 is a four-wheel drive vehicle, the lower limit threshold T _low of the predetermined range is set to 1.15, whereby the lower limit threshold is set. T _low becomes an appropriate value according to the driving method of the vehicle 10, and the rear wheel drift traveling of the vehicle 10 can be detected more appropriately.

[3] According to the travel information collection processing system 1 of the present embodiment, when the vehicle 10 is a rear wheel drive vehicle (a vehicle such as FR, RR, rear wheel drive midship, etc.), the lower limit threshold of the predetermined range. By setting T _low to 1.15, the lower limit threshold T _low becomes an appropriate value according to the driving method of the vehicle 10, and the rear wheel drift traveling of the vehicle 10 can be detected more appropriately.

[4] According to the traveling information collection processing system 1 of the present embodiment, by setting the upper limit threshold value T _hi of the predetermined range to 2.00, the rear wheels are caused to idle when the vehicle 10 starts. It is possible to prevent erroneous determination as drift traveling, and to detect the rear wheel drift traveling of the vehicle 10 more appropriately.

[5] According to the travel information collection processing system 1 of the present embodiment, the predetermined range is set according to at least one of the vehicle body weight, the vehicle gravity center position, the wheel base, and the tire width of the vehicle 10, The appropriate predetermined range is set according to the characteristics of the vehicle 10, and the rear wheel drift traveling of the vehicle 10 can be detected more appropriately.

[6] According to the travel information collection processing system 1 of the present embodiment, the left wheel rotation speed ratio (RT _LR / RT _LF ) and the right wheel rotation speed ratio (RT _RR / RT _RF ) are both in the predetermined range. Only in this case, it may be determined that the vehicle 10 has traveled the rear wheel drift. As a result, even if the right rear wheel or the left rear wheel suddenly slips, such as when part of the road surface is slippery due to freezing or the like, the left wheel rotational speed ratio (RT _LR / RT _LF ) and The presence / absence of rear wheel drift traveling is determined based on both the right wheel rotational speed ratio (RT _RR / RT _RF ), and the presence / absence of rear wheel drift traveling can be more reliably determined.

[7] According to the travel information collection processing system 1 of the present embodiment, when a steering in the direction opposite to the curve direction is detected at least once within a predetermined time in a travel direction change section such as a curve. Then, it is determined that the driver has steered in the direction opposite to the curve direction. Thereby, it is detected a plurality of times that the right wheel rotational speed ratio (RT _RR / RT _RF ) and the left wheel rotational speed ratio (RT _LR / RT _LF ) are within the predetermined range during one rear wheel drift run. In this case, it is determined that the four-wheel drift travel has been performed once, and the rear wheel drift travel of the vehicle 10 can be detected more appropriately.

[8] According to the traveling information collection processing system 1 of the present embodiment, the generated traveling history data is reproduced by video, and a tire and road surface are determined in a scene where it is determined that rear wheel drift traveling has occurred in the reproduced video. A squeal sound that rubs is added in synchronization with the above video. As a result, the behavior of the vehicle 10 actually traveling with the rear wheel drift is accurately reproduced from the reproduced video and traveling sound, and the user who appreciates the reproduced video and traveling sound can be satisfied. In particular, when the driver who drives the vehicle 10 appreciates the video and sound that reproduces the traveling of the vehicle 10, the driver feels that his driving is faithfully reproduced and is more satisfied. Can be obtained.

[9] When the traveling information collection processing method of the present embodiment is executed by the computer 30, the same operation as that of the traveling information collection processing system 1 is achieved and the same effect is achieved.

  The embodiment described above is described for facilitating the understanding of the present invention, and is not described for limiting the present invention. Therefore, each element disclosed in the above embodiment is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

  For example, in the above-described example, the computer 30 acquires log information from the vehicle 10 via the storage medium 20. However, in the present embodiment, the computer 30 and the vehicle 10 directly communicate with each other via network communication or the like. If possible, the log information may be transmitted directly from the vehicle 10 to the computer 30.

  In the embodiment described above, the acquisition unit of the present invention corresponds to the communication device 32 of the computer 30, and the rotation speed ratio detection unit, the travel history generation unit, and the playback unit of the present invention correspond to the control unit 31 of the computer 30. .

DESCRIPTION OF SYMBOLS 1 ... Running information collection processing system 10 ... Vehicle 11 ... Vehicle controller 12 ... Communication apparatus 13 ... GPS signal receiver 14 ... Sensor 141 ... Steering angle sensor 142 ... Vehicle speed sensor 143 ... Wheel speed sensor 15 ... Drive device 16 ... Steering device 17 ... Storage device 20 ... Storage medium 30 ... Computer 31 ... Control device 32 ... Communication device 33 ... Storage device 34 ... Output device 341 ... Display 342 ... Speaker LF ... Left front tire LR ... Left rear tire RF ... Right front tire RR ... Right rear tire

Claims (9)

In a four-wheel vehicle that has actually traveled, the steering angle during travel, the rotational speed of at least one of two left wheels or two right wheels of the four wheels, the travel path on which the four-wheel vehicle traveled, and the four wheels Acquisition means for acquiring travel information including information on the position of the vehicle;
A rotational speed ratio detecting means for detecting a rotational speed ratio, which is a ratio between the rotational speed of the left and / or right front wheel and the rotational speed of the rear wheel, obtained by referring to the travel information;
With reference to the travel information and the rotation speed ratio, the rotation speed ratio is within a predetermined range set according to the driving method of the four-wheel vehicle in a section where the travel path on which the four-wheel vehicle has traveled is curved. If it is determined that there is a rear wheel drift that changes the traveling direction while slipping the tire of the rear wheel of the four-wheel vehicle in the section, the actual traveling of the four-wheel vehicle is determined. A travel information collection processing device comprising: travel history generation means for generating travel history data reproducing the above.   The travel information collection processing device according to claim 1, wherein the lower limit value of the predetermined range is set to 1.15 when the four-wheel vehicle is a four-wheel drive vehicle.   The travel information collection processing device according to claim 1 or 2, wherein the lower limit value of the predetermined range is set to 1.40 when the four-wheel vehicle is a rear-wheel drive vehicle.   The travel information collection processing device according to any one of claims 1 to 3, wherein an upper limit value of the predetermined range is set to 2.00.   The travel information collection according to any one of claims 1 to 4, wherein the predetermined range is set according to at least one of a vehicle body weight, a vehicle center of gravity position, a wheel base, and a tire width of the four-wheel vehicle. Processing equipment. The acquisition means acquires rotational speeds of all four wheels of the four-wheel vehicle,
The rotational speed ratio detecting means detects the rotational speed ratio of the left wheel of the four-wheel vehicle and the rotational speed ratio of the right wheel of the four-wheel vehicle;
When the travel history generation unit determines that the rotation speed ratio of the left wheel of the four-wheel vehicle and the rotation speed ratio of the right wheel of the four-wheel vehicle are both within the predetermined range, The travel information collection processing apparatus according to any one of claims 1 to 5, wherein it is determined that drift has occurred.   The travel history generating means determines that the rear wheel drift has occurred when detecting that the rotational speed ratio has entered the predetermined range at least once within a predetermined time in the section. The travel information collection processing device according to any one of Items 1 to 6.   The driving history data generated by the driving history generating means is reproduced as a video, and a squeal noise that causes the tire and the road surface to rub in the scene determined by the driving history generating means in the reproduced video that the rear wheel drift has occurred. The travel information collection processing device according to any one of claims 1 to 7, further comprising reproduction means for adding in synchronization with the video. Computer
In a four-wheel vehicle that has actually traveled, the steering angle during travel, the rotational speed of at least one of two left wheels or two right wheels of the four wheels, the travel path on which the four-wheel vehicle traveled, and the four wheels Obtaining travel information including information on the position of the vehicle;
Referring to the travel information, detecting a rotation speed ratio that is a ratio of the rotation speed of the left and / or right front wheels and the rotation speed of the rear wheels;
With reference to the travel information and the rotation speed ratio, the rotation speed ratio is within a predetermined range set according to the driving method of the four-wheel vehicle in a section where the travel path on which the four-wheel vehicle has traveled is curved. If it is determined that there is a rear wheel drift that changes the traveling direction while slipping the tire of the rear wheel of the four-wheel vehicle in the section, the actual traveling of the four-wheel vehicle is determined. Generating travel history data that reproduces the driving information collection processing method.

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