JPH11244512A - Race game device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make traveling bodies to accurately trace the target line in a racing game machine where plural traveling bodies conduct racing. SOLUTION: A truck 4 measures a deviation between a sequential target position determined according to a predetermined traveling pattern information and an actual measurement position read by a feeding pin 4b or the like, and sequentially travels toward the target position according to the PID control using a first control parameter group in such a deviation and a straight line traveling section and using a second control parameter group predetermined according to the curvature of the section in a curved traveling section. Thus, the effect of the PID control for the lateral speed change of the truck 4 is optimized whether the straight line traveling section or the curved traveling section, so that the trace operation of the truck 4 for a designated target line can be improved.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a racing game apparatus in which a plurality of running bodies race, and more particularly to a running control of the running bodies.

[0002]

2. Description of the Related Art At present, there are competitive game machines in which a plurality of running bodies race on a predetermined course. For example, although not shown, there is a horse racing game device in which a plurality of model horses race on a course. In such a thing,
The course consists of a ceiling and a floor where multiple model horses run.
It has a layer structure. Each model horse is magnetically coupled to a bogie that runs on the floor across the ceiling surface and runs integrally with the bogie, and the model horse and the bogie constitute a running body. Each traveling body (cart) has left and right driving wheels driven by independent motors, respectively, and drives the left and right driving wheels at a speed according to a control command sent from a controller by optical communication, and travels. Perform a race action. In addition, means for actually measuring the position of each traveling body on the course is provided,
The controller generates the control command for each traveling body sequentially at predetermined time intervals based on an error between the actually measured position and a predetermined target position. Such a control command, for example, first measures the deviation between the successive target position and the actual measurement position, and calculates the position deviation and the respective parameters that determine the control gains of the proportional component, integral component, and differential component calculated. Using control parameter group
(Proportional-Integral-Derivative) control,
The left and right motors are controlled so that the traveling body moves toward the target position.

[0003]

However, the number of control parameter groups is not limited to the straight running section and the curved running section of the course. For this reason, as shown in FIG. 12, when each control parameter is set so that the traveling body (bogie) can trace the predetermined target line L0 in the straight traveling section s1, the traveling body (bogie) is curved in the curved traveling section s2. The actual traveling line L2 of ()) traces the outside of the curve of the target line L0. In other words, in the PID control using such parameters, the effect of changing the speed in the left-right direction of the traveling body required in the curved traveling section cannot be obtained. For this reason, when trying to make the traveling body travel in various traveling patterns such as an out-course and an in-course, the course change becomes insufficient in the in-course of the curve. Conversely, when the control parameters are set so that the traveling body (bogie) can trace the target line L0 well in the curved traveling section s2, the effect of changing the speed of the traveling body in the left-right direction becomes excessive, and FIG. As shown, the traveling line L3 of the traveling body (bogie) meanders greatly in the straight traveling section s1. In addition, in order to set the running pattern of each running body so that a plurality of running bodies perform a race operation without interfering with each other, it is necessary to take into account the deviation from the running pattern of each running body. Was very complicated.

[0004]

Therefore, in the present invention, the traveling body is provided with a deviation between successive target positions and target speeds determined by predetermined traveling pattern information and actual measurement positions and actual speeds read by the reading means. Are measured, and the first control parameter group is used for the deviation and the straight running section, and the second control parameter group defined according to the curvature of the section is used for the curved running section of the running body. The vehicle sequentially travels to the target position by the PID control. Thereby, the effect of the PID control on the speed change of the traveling body in the left-right direction is optimized regardless of the straight traveling section and the curved traveling section, and the tracing operation of the predetermined line by the traveling body is improved.

[0005]

BEST MODE FOR CARRYING OUT THE INVENTION In a competitive game machine in which a plurality of running bodies perform a racing operation, a plurality of patterns for giving position information of the running bodies are provided. And a position deviation and a velocity deviation between successive target positions and target speeds determined by predetermined traveling pattern information and actual positions and actual speeds read by the reading unit. Is controlled so as to sequentially travel toward the target position at the target speed by PID control using a speed deviation and a control parameter. In the PID control, in the straight traveling section of the traveling body, In the curved traveling section of the traveling body, the first control parameter group is used in accordance with the curvature of the section. The second control parameter group is used.

Here, the effect of changing the speed of the traveling body in the left-right direction by the PID control using the second control parameter group is greater than the effect by the PID control using the first control parameter group. Is preferred.

In the straight running section, PID control is performed using a first control parameter group defined in correspondence with the target speed in the section. It is also preferable to perform PID control using a correspondingly determined second control parameter group.

In a competitive game machine in which a plurality of running bodies perform a racing operation, a plurality of patterns for giving position information to the running body are provided, and each of the running bodies reads the position information from the pattern. With
A deviation between a successive target position determined by predetermined traveling pattern information and an actual measurement position read by the reading means is measured, and a proportional component calculated from the position deviation is calculated.
The steering amount is determined by the first PID control using a steering control parameter group including parameters that determine the respective control gains of the integral component and the differential component, and the target speed determined by the steering amount and the actual measurement position are used. The second PID control using a deviation from the calculated actual measured speed and a speed control parameter group including parameters that determine respective control gains of a proportional component, an integral component, and a differential component calculated with the speed deviation is performed. The vehicle travels at a determined speed. In the first and second PID controls, a first steering control parameter group and a first speed control parameter group are used in the straight traveling section of the traveling body. In the curved traveling section of the co-traveling body, a second steering control parameter group determined according to the curvature of the section and It is also preferable to use a second velocity control parameter group.

Here, the effect of changing the left-right speed of the traveling body by the first and second PID control using the second steering control parameter group and the second speed control parameter group is as described above. It is also preferable that the first and second PID controls using the first steering control parameter group and the first speed control parameter group have greater effects.

Here, in the straight section, first and second PIDs using a first steering control parameter group and a first speed control parameter group determined corresponding to a target speed in the section. Control is performed, and in the curved section, a first steering control parameter group and a second speed control parameter group defined according to the curvature of the section and the target speed are used.
It is also preferable to perform the PID control described above.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS A competition game machine according to an embodiment of the present invention will be described. First, an outline of the configuration will be described. FIG.
1 shows the overall appearance of the competition game apparatus. In FIG. 1, reference numeral 1 denotes a course, which is provided on the upper surface of the base 2. Reference numerals 3 to 3 denote model horses, which are magnetically coupled to the respective lower trucks, which will be described later, form a running body together with the trucks, and exhibit a racing operation on the course 1 as described later.

Next, an outline of the configuration of each traveling body will be described. FIG. 2 is a diagram schematically illustrating a side surface of the traveling body. In the same figure, the same reference numerals as those in FIG.
The same thing as that shown in FIG. 1 is shown, and the same applies to each of the drawings described below. Now, in FIG.
Is a truck, 5 is a floor surface, 6 is a ceiling surface, and course 1 has a two-layer structure. The carriage 4 travels on the floor 5 with the driving wheels 4a, and the driving wheels 4a are on the left and right sides, and are driven by independent motors. The cart 4 is magnetically coupled to the model horse 3 on the ceiling surface 6 by a magnet (not shown), and the model horse 3 runs integrally with the cart 4. Also,
As shown in FIG. 3, on the rear surface of the ceiling surface 6, power supply lines 6a and 6b of + and-poles are provided alternately in the width direction. FIG. 3 is a schematic view of the ceiling surface 6 seen from above, and more power supply lines 6a and 6b are provided than those shown in FIG. In addition, the trolley 4 has power supply lines 6a and 6b.
And a plurality of power supply pins 4b that are in contact with the power supply pins and receive power supply. Further, although not shown in FIG.
As shown in the figure, a plurality of sections 5a to 5
a, and a bar code (not shown) indicating position information is provided for each of them.
Bar codes (not shown) indicating respective position information are provided at specific intervals corresponding to 6a. The cart 4 includes a barcode sensor 4c for reading these barcodes and obtaining positional information. The cart 4 also has an infrared light emitter 4d and an infrared light receiver 4e, which, for example, transmit state information to a later-described controller via the optical communication units 7 to 7 as shown in FIG. Optical communication unit 7-
7 to receive control information sent from the controller.

Next, the configuration of the entire competition game apparatus of this embodiment will be described with reference to the block diagram of FIG. Reference numeral 8 denotes a controller that determines travel pattern information that specifies a target position and a target speed to which the truck 4 should head at successive timings. Reference numerals 7a and 7b denote an infrared light emitter and an infrared light receiver, respectively, which constitute the optical communication unit 7. As a result, control information such as travel pattern information is transmitted and received between the carriage 4 and the controller 8.

Although only one truck 4 is shown in FIG. 5, all of them are configured as follows. 4f,
4g is a rectifier circuit and a power supply circuit, respectively. Rectifier circuit 4
f is connected to the seven power supply pins 4b to 4b, rectifies the current flowing therethrough and sends it to the power supply circuit 4g,
Supplies power to each circuit of the carriage 4.

Reference numeral 4h denotes a voltage dividing circuit, and the power supply pins 4b to 4h
b, and divides the voltage applied to each of them to output. The output of the voltage dividing circuit 4h is used for measuring the position of the carriage 4 in the width direction by a one-chip microcomputer described later. Here, position measurement using the power supply pins 4b to 4b will be briefly described with reference to FIG. Power supply pin 4b
4b are arranged at equal intervals, and the power supply pins 4b to 4b
b, at least one of which is a positive power supply line 6a or-
The power supply pins 6b and 6b are configured so as to be in contact with the power supply line 6b of the pole and the other ones in contact with the power supply line of the other pole.
Power supply pin 4b contacting power supply line 6a of the positive pole of 4b
4b, the position of the carriage 4 with respect to the positive power supply line 6a with which the power supply pins 4b to 4b come into contact is measured. Further, in this example, the carriage 4 travels while tracing any of the power supply lines, detects the position of the power supply line being traced by a bar code at a specific interval, and is measured by the power supply pins 4b to 4b. From the value, the position of the carriage 4 in the width direction is measured. When performing control to change the power supply line to be traced, the position in the width direction is updated according to the power supply line to be traced next by the processing of the one-chip microcomputer 4r described below without reading the barcode. Is done. Description will be made again with reference to FIG. The infrared light emitter 4d includes light emitting diodes 4i to 4i, and the infrared light receiver 4e includes phototransistors 4j to 4j.
j and an amplifier circuit 4k for amplifying the current flowing therethrough.

Reference numerals 4l and 4m denote a left motor and a right motor, respectively, for driving the left and right driving wheels 4a independently of each other. 4n and 4o are driving circuits for driving the left motor 41 and the right motor 4m, respectively. 4p and 4q are rotary encoders for measuring the moving distance and speed of the carriage 4 from the rotation of the left motor 41 and the right motor 4m, respectively. That is, while the position of each section is not read by the barcode sensor 4c, the rotary encoder 4p,
The movement distance actually measured by 4q is set as the position of the carriage 4. Further, a cut may be provided in the power supply line in the width direction and a sensor for reading the cut may be provided. When the cut is detected, the position in the distance direction measured by the rotary encoder may be corrected.

Reference numeral 4r denotes a one-chip microcomputer;
, And causes the truck 4 to travel in a traveling pattern according to the control information sent from the controller 8. For example, the traveling pattern information indicates that a specific number of sections 5a to 5a
Blocks are sequentially transmitted from the optical communication unit 7, and when these are received, they are stored in a memory (not shown). The traveling pattern information includes a target speed for each time point, a target position in the circumferential direction of the course, a power supply line to be traced as a target position in the width direction, and an instruction to change the power supply line. Although not shown, the one-chip microcomputer 4r has a built-in clock, and this built-in clock is reset by start. The one-chip microcomputer 4r sequentially reads out the running pattern information at a predetermined timing measured by a built-in clock, and sequentially reads the positional deviation between the actually measured position and the target position measured by the power supply pins 4b to 4b and the barcode sensor 4c. The left motor 41 and the right motor based on the first PID control for steering control based on the speed control and the second PID control for speed control based on the actual speed measured by the rotary encoders 4p and 4q and the target speed. 4 m is driven, and acceleration / deceleration and switching of the power supply line are performed as necessary. In this example, in each PID control,
The parameters that determine the control gains of the proportional component, the integral component, and the differential component calculated from the position deviation are different between the straight traveling section of the bogie 4 and the curved traveling section. Further, since the first and second PID controls are performed for the steering and the speed of the bogie 4, respectively, the one-chip microcomputer 4r stores the first steering control parameter group for the straight running section and the first PID control in the memory. A speed control parameter group is stored, and a second steering control parameter group and a second speed control parameter group for a curved traveling section are stored. Also,
The first steering control parameter group and the first speed control parameter are set to optimal values with respect to the target speed in the straight running section, and the second steering control parameter group and the second speed control are set. The parameter for use is set to an optimum value for the curvature of the curved traveling section and the target speed in the section. Here, an example of a parameter group used in the present example will be described. Target speed of 30
FIG. 7A shows a steering control parameter group and a speed control parameter group corresponding to a combination of 0 mm / s, 500 mm / s, a straight running section, and a curved running section (curvature: r = 280 mm). ) And (b). In FIGS. 7A and 7B, GP, GI, and GD are parameters for determining control gains of a proportional component, an integral component, and a differential component, respectively, and each value is represented by a hexadecimal number. In addition,
However, the present invention is not limited to this. For a plurality of travel sections having different curvatures and target speeds, a plurality of parameter groups 1A for the steering control parameter group and the speed control parameter group as shown in FIG.
To 4E may be provided.

Next, the operation of this embodiment will be described with reference to the flowcharts shown in FIGS.

First, control information from the controller 8 is transmitted. Here, when each truck 4 receives its own traveling pattern information, it stores it in a memory inside the one-chip microcomputer 4r. When a start signal is output from the controller 8, initialization is performed, and each truck 4 starts running (step 8a).

At the start of traveling, the operation of measuring the current measured speed and measured position is performed as shown in the flowchart of FIG. This interrupt processing is performed by the rotary encoders 4p, 4p
This is performed every time a pulse is generated from q. First, the speed of the bogie 4 is measured from the current interrupt time and the previous interrupt time (step 9a). Next, by the barcode sensor 4c,
An attempt is made to read a bar code (step 9b). If the barcode is read here (step 9
c), the current actual measurement position is updated based on the position information represented by the barcode, and the interruption processing ends (step 9b).
Here, if the position information in the circling direction is read, the measured position in the circulating direction measured by counting the output pulses of the rotary encoders 4p and 4q is updated, and the position information indicating each power supply line is updated. If read, the measured position in the width direction is updated. If no bar code is read, the rotary encoder 4
The output pulses of p and 4q are counted to update the actual measurement position in the circling direction, and the interrupt processing is ended and the processing returns to the main processing.

Returning to FIG. 8, the position of the power supply line 6a is sensed by the power supply pins 4b to 4b.
An actual measurement position in the width direction of the carriage 4 is obtained (step 8b). Next, a steering control parameter is set based on the measured position (or target position) in the circling direction and the measured speed (or target speed) (step 8c). For example, here, the vehicle is traveling in a straight traveling section and the measured speed or the target speed is 30.
If it is near 0 mm / s, the parameter group 00A among the steering control parameter groups shown in FIG.
(First steering control parameter group) is selected,
The parameters GP, GI, GD are 80, 00, 8 respectively.
Set to 0. At the timing when the traveling section is updated, a parameter group is selected according to the target position or the target speed.

Next, the first PID relating to the steering amount is determined using the measured position in the width direction, the target position, and the parameters GP, GI and GD of the selected steering control parameter group.
A control calculation is performed (step 8d). The first PID control calculation will be described with reference to the flowchart of FIG.

First, a deviation between the actually measured position and the target position is calculated (step 10a). Here, the current measured position in the width direction of the carriage 4 is Xm, the target position in the width direction currently read from the memory is Xt, and the positional deviation is e.
Calculate e = Xm-Xt and position deviation e. Note that the target position Xt is sequentially read from the memory at a predetermined timing. Next, a proportional component is obtained (Step 1)
0b). The proportional component is P, and the value of the parameter GP is GP
Then, the proportional component P is calculated as P = e × GP. Next, an integral component is calculated (step 10c). Here, first, the integrated value of the position deviation is set to i, and first, the integrated value i
Is calculated as i = i + e. The integrated value i is a value that is integrated with the position deviation e calculated in the next and subsequent processes. Here, if there is no integrated value i calculated in the previous process, a preset initial value (here, 0 and 0) ) Is added to the position deviation e. Next, the integral component is represented by I and the parameter G
If I is GI, the integral component I is calculated as I = i × GP. Next, a differential component is calculated (step 10).
d). First, the differential value is d, the position deviation calculated by the previous process is es, the damping coefficient is Ld, and the differential value d is d =
e−es + (d / Ld) is calculated. Thereafter, the current position deviation e is set as a position deviation es for the next processing. The differential value d divided by the attenuation coefficient Ld is a value calculated by the previous process, and is updated to a value newly obtained by the current process. If there is no deviation es and differential value d of the previous process required for the current process, a preset initial value (here, 0) is used. Next, assuming that the differential component is D and the parameter GD is GD, the differential component D is calculated as D = d × GD. Next, a control amount is calculated (step 10e). Assuming that the control amount is PID, the control amount PID is calculated as PID = P + I + D using the proportional component P, the integral component I, and the differential component D. When the control amount is calculated in this manner, the first PID control calculation relating to the steering amount ends, and the process returns to the process of FIG.

Next, the control amount PID is set as a steering amount T (step 8e).
The target speed realized by the rotation of m is corrected. For example, if the steering amount T is positive, the target speed of the left motor 41 is increased by a predetermined amount according to the steering amount, and conversely, the target speed of the right motor 4m is decreased. Next, parameters for speed control are set based on the measured position or target position in the rotation direction and the measured speed or target speed (step 8f). Here, in the description of step 8c above, the vehicle is traveling in a straight traveling section, and the measured speed or the target speed is 300
mm / s, the parameter group 10A (first speed control parameter group) is selected from the speed control parameter groups shown in FIG. 7B, and the parameters GP, GI, and GD are 10, 0 respectively
Set to 2.00. Then the second PID for speed
Control calculations are performed for the left and right motors 41 and 4m, respectively (step 8g). The outline of the second PID control calculation here is the same as that shown in the flow chart of FIG. 10, where xm is replaced with the actually measured speed measured by the right and left rotary encoders 4p, 4q, etc., and xt is replaced with xt. The same processing is performed if the target speed is replaced.
The control amount PID obtained thereby becomes a control amount corresponding to the speed. Next, the motor currents of the motors 4l and 4m are set according to the control amounts corresponding to the speeds obtained for the left and right motors 4l and 4m (step 8h). Returning to step 8, the subsequent processing is repeated.

By repeating the above operation, the carriage 4
Traces a line determined by a sequentially specified target position in the width direction at a target speed. An example is shown in FIG. 11, for example. In the figure, L0 is a line determined by successive target positions of the traveling pattern information, and L1 is a line that is actually controlled by the control operation of this example.
Is a running line. Section s1 is a straight running section, s
2 is a curved traveling section. Curvature section curvature is 280
mm, and the carriage 4 travels at a target speed of 300 mm / s in both the straight traveling section s1 and the curved traveling section s2. When the bogie 4 enters the curved traveling section s2, the steering control parameter group 00A (first steering control parameter group) and the speed control parameter group 10
A (first speed control parameter group) is switched to a steering control parameter group 01A (second steering control parameter group) and a speed control parameter group 11A (second speed control parameter group), respectively. Thereby, PID control using the control parameters corresponding to the traveling speed and the curvature is performed, and the bogie 4 accurately traces the line. For comparison, a case in which parameters are not switched between a straight running section and a curved running section as described above as a conventional competitive game apparatus will be described. FIG. 12 shows a case where the steering control parameter group 00A and the speed control parameter group 10 are both used in the straight running section s1 and the curved running section s2.
As shown in the figure, the actual traveling line L2 of the truck 4 cannot trace the line L0 in the curved traveling section. When the steering control parameter group 01A and the speed control parameter group 11A for the curved traveling section are used for both the straight traveling section and the curved traveling section, FIG.
As shown in FIG. 3, the traveling line L3 of the bogie 4 meanders badly in a straight traveling section. On the other hand, in this example, in the straight running section and the curved running section, the optimized parameter groups are used, respectively, so that the speed of the bogie 4 in the left-right direction by the PID control is changed in the curved running section. Is greater than the effect of the PID control in the straight running section. Thereby, the tracing ability of the target line in the curved traveling section is sufficient while the traveling stability in the straight traveling section is ensured.

Further, the steering control parameter groups 00A and 01A for traveling at 300 mm / s and the speed control parameter groups 10A and 11A are used for 500
When traveling at a speed of mm / s, the traveling line of the bogie 4 is shown in FIG.
4 as indicated by L4. On the other hand, when the vehicle is driven at 500 mm / s using the steering control parameter groups 00B and 01B and the speed control parameter groups 10B and 11B defined for 500 mm / s as in this example, the traveling line of the bogie 4 Becomes as shown by L5 in FIG. 15, and the line can be traced more accurately than that shown in FIG.

As described above, in the present embodiment, the parameters of the PID control, that is, the control gains of the proportional, integral, and differential components are different depending on the target speed and the curvature of the traveling section in which the vehicle is traveling. The optimum control parameters are used by referring to the table according to the situation. As a result, the traveling control is appropriately performed even in various situations, and the traveling faithful to the traveling pattern can be performed.

[0028]

According to the present invention, the running of each running body is determined by PI
Determined by D control. The control parameters used in the PID control, that is, the control gains in the proportional, integral, and derivative components are provided according to the target speed and the curvature of the curved traveling section, and the optimal one is used according to the situation at that time. . As a result, the traveling control is appropriately performed even in various situations, and the traveling faithful to the predetermined traveling pattern can be performed.

According to the fourth to sixth aspects of the present invention, the steering control and the speed control are performed by the first and second PIs, respectively.
D control is performed so that each traveling body traces a desired line. For this reason, if a line to be traced and a target speed are appropriately determined for each traveling section, and these are combined to allow each traveling body to travel in various traveling patterns, various traveling patterns can be obtained by simple control. It is possible to make each traveling body travel. Moreover, in the first and second PID controls, the optimal control parameters are used according to the situation at that time, so that each traveling body can be made to travel faithfully in various traveling patterns.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram illustrating a configuration of a competition game device according to one embodiment of the present invention.

FIG. 2 is an explanatory diagram for explaining a configuration of a main part of FIG. 1;

FIG. 3 is an explanatory diagram for explaining a configuration of a main part of FIG. 1;

FIG. 4 is an explanatory diagram for explaining a configuration of a main part of FIG. 1;

FIG. 5 is a block diagram for explaining a configuration of a competition game device according to one embodiment of the present invention.

FIG. 6 is an explanatory diagram for explaining a configuration of a main part of FIG. 1;

FIG. 7 is an explanatory diagram illustrating a control parameter group of the competition game device according to one embodiment of the present invention.

FIG. 8 is a flowchart for explaining the operation of the competition game apparatus according to one embodiment of the present invention.

FIG. 9 is a flowchart for explaining the operation of the competition game apparatus according to one embodiment of the present invention.

FIG. 10 is a flowchart for explaining the operation of the competition game apparatus according to one embodiment of the present invention.

FIG. 11 is an explanatory diagram for explaining an operation of the competition game apparatus according to one embodiment of the present invention.

FIG. 12 is an explanatory diagram for explaining the operation of the competition game apparatus according to one embodiment of the present invention.

FIG. 13 is an explanatory diagram for explaining an operation of the competition game apparatus according to one embodiment of the present invention.

FIG. 14 is an explanatory diagram for explaining an operation of the competition game device according to one embodiment of the present invention;

FIG. 15 is an explanatory diagram for explaining an operation of the competition game device according to one embodiment of the present invention.

[Explanation of symbols]

4 Bogie (traveling body) 6a, 6b Power supply line (pattern) 4b Power supply pin (reading means) 4c Barcode sensor (reading means) 00A, 00B First steering control parameter group (first control parameter group) 10A , 10B First speed control parameter group (first control parameter group) 01A, 01B Second steering control parameter group (second control parameter group) 11A, 11B Second speed control parameter group (Second control parameter group)

 ────────────────────────────────────────────────── ─── Continued on the front page (72) Inventor Yoichi Tokumasu 1-1-1 Akanehama, Narashino-shi, Chiba Seiko Precision Co., Ltd.

Claims (6)

[Claims] 1. A competition game device in which a plurality of running bodies perform a racing motion, the plurality of running bodies have a plurality of patterns for giving position information of the running bodies, and each of the running bodies reads the position information from the patterns. A reading unit for measuring a position deviation and a speed deviation between a sequential target position and a target speed determined by predetermined traveling pattern information and an actual measurement position and an actual measurement speed read by the reading unit; PID control using a deviation and a control parameter is controlled so as to sequentially travel toward the target position at the target speed. In the PID control, the first travel is performed in a straight traveling section of the traveling body. In the curved traveling section of the traveling body, a second control parameter group determined in accordance with the curvature of the section is used. A competitive game apparatus characterized by using the control parameter group of (1). 2. The effect of changing the speed of the traveling body in the left-right direction by the PID control using the second control parameter group is greater than the effect by the PID control using the first control parameter group. The competition game device according to claim 1, wherein: 3. In the straight running section, PID control is performed using a first control parameter group defined in correspondence with a target speed in the section, and in the curved running section, the curvature of the section and the target The competitive game device according to claim 1, wherein PID control is performed using a second control parameter group determined according to the speed. 4. A competition game device in which a plurality of running bodies perform a racing operation, the plurality of running bodies have a plurality of patterns for giving position information to the running bodies, and each of the running bodies reads the position information from the patterns. A reading means for measuring a deviation between a successive target position determined by predetermined traveling pattern information and an actual measurement position read by the reading means, and calculating a proportional component, an integral component, and a differential component calculated from the position deviation; The steering amount is determined by the first PID control using a steering control parameter group including parameters that determine the respective control gains, and the target speed determined by the steering amount and the actual measurement speed calculated from the actual measurement position are determined. And the parameters that determine the respective gains of the proportional, integral, and differential components calculated with this speed deviation The vehicle travels at a speed determined by the second PID control using the speed control parameter group. In the first and second PID controls, the first steering control Using a parameter group and a first speed control parameter group, a second steering control parameter group and a second speed control parameter group defined according to the curvature of the curved section of the traveling body are defined. A competitive game device characterized by being used. 5. The effect of changing the speed in the left-right direction of the traveling body by the first and second PID controls using the second steering control parameter group and the second speed control parameter group. 5. The competitive game apparatus according to claim 4, wherein the effect is greater than the effects of the first and second PID controls using the first steering control parameter group and the first speed control parameter group. 6. A first and a second PID control using a first steering control parameter group and a first speed control parameter group defined corresponding to a target speed in the straight section. And in the curved section, first and second PIs using a second steering control parameter group and a second speed control parameter group defined according to the curvature of the section and the target speed.
The competitive game device according to claim 4, wherein D control is performed.