JPS6042783A - Car driving technique practicing apparatus - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a driving technique training device suitable for use in driving schools and the like.

At driving schools, it is common for an instructor to sit alongside the student and give verbal guidance, but the instructor's instructions are often subjective, and the student can directly check the position of the wheels. Since the relationships could not be known, it was extremely difficult to learn how to operate the steering wheel.

This invention was made in view of the above circumstances, and by specifically displaying the movement trajectory of the wheels while driving, it is possible to clearly recognize the relationship between the steering wheel operation and the actual movement trajectory of the wheels. The present invention provides such a device.

That is, the driving skill training device according to the present invention includes a moving trajectory detecting means for detecting the moving trajectory of the wheels of a running automobile;
It also includes a display means for displaying the movement trajectory obtained by the detection means. A detailed explanation will be given below based on examples.

First, I will explain how to find the trajectory of the wheels.
First, speed sensors are attached to the left and right sides of the car to measure the distance traveled per unit time.

Next, by adding these traveling distances and halving them, the average traveling distance of the vehicle can be obtained, and by dividing the difference between the left and right traveling distances by the distance between both sensors, the amount of change in the traveling direction can be calculated. By successively accumulating these values, it becomes possible to determine the current position and heading of the vehicle. There are several methods for measuring the left and right speeds of an automobile, but the method for measuring the rotational speeds of wheels that rotate independently on the left and right sides will be explained as follows.

First, a pulse encoder that can measure rotation at a minute angle is attached to the left and right rear wheels W that rotate via the differential I wheel. Let the moving distances of the wheels per one pulse be DL and DR. Here, the subscript refers to the left wheel, and R refers to the right wheel.

Now, if we consider the case where a car moves in a circular arc for a unit time τ at a speed V, the trajectory of the left and right wheels w,,wR and the midpoint of the wheels (representative point of the car) is as shown in Figure 1. become. If the numbers of pulses generated by the pulse encoders of the left and right wheels during unit time τ are NL and NR, the traveling distances of the left and right wheels ΔLL and ΔL length are ΔLL = DL NL and ΔL* = D* NR. Therefore, it is expressed by the shift of the representative point (the center of the rear wheels), and the traveling speed is ΔLF=-. Also, if the turning radius at this time is r + tread (wheel spacing - is T, and the amount of change in direction is Δθ, then from the relationship I' (Ni-) Δθ = ΔLL (r--) Δθ = ΔLR, the car We obtain ω=-τ as the turning angle velocity of Yanagi ω. Therefore, at time (n-1)τ, the position (Xn
-1, Yn-1) and traveling direction 0n-1, the position (In, Yn) and traveling direction θn at time nτ of the vehicle are approximated by θn=(ln-1+Δθ), as shown in Figure 1. Here, it is assumed that the time is short and ΔL and Δθ are also sufficiently small amounts.From the above results, Xn, Yn
, on using a computer every τ seconds, the current position and heading of the vehicle can be calculated. As can be seen from Fig. 1, the positions of the left and right rear wheels are expressed, for example, in curved coordinates.・r (on 901,) It can be easily expressed as follows.

In other words, if we know the center position of the two rear wheels and their traveling direction (on), we can find that the left and right rear wheels are at a distance of +1° and -90° from that direction (on) and at a distance of 7 from the center position. Become.

Furthermore, since the positional relationship between the front wheels and the rear wheels is always constant, once the position of the rear wheels is determined, the positions of the front wheels can be easily adjusted accordingly.

FIG. 2 is a system configuration diagram of an automobile equipped with the device of the present invention. Pulse encoders 2 are attached to the left and right rear wheels WI- and WR of the automobile 1, respectively, and signals from the pulse encoders 2 are After being processed by the counter 3 and the microcomputer 4, it is displayed on the display device 6 via the D/A converter 5. As the display device 6, for example, one or more of a plotter, a CRT%XY recorder, a liquid crystal display device, etc. can be used. It is convenient to simultaneously display the local pattern of the road on which the vehicle is currently traveling when displaying the travel trajectory, as this allows for a very specific recognition of the traveling state. FIG. 61 is a diagram showing an example of the training situation. Further, if exemplary movement trajectories, such as the trajectory of the instructor's wheel rolls, are displayed together with the movement trajectories and road patterns, the training effect will be even more excellent.

Note that as a method for displaying coordinate position information of a moving object such as a car, a coordinate position information output device (Japanese Patent Publication No. 54-1472) developed by the present inventor can be used. Furthermore, display equipment such as a CRT may be installed in a location within the vehicle that is easily visible to the driver (student), but it is also possible to store the obtained data in memory and repeatedly study it later. .

As explained above, the driving skill training device A according to the present invention directly displays the moving trajectory of the wheels in line 715, so that students can concretely learn the relationship between steering wheel operations and wheel positions. It becomes possible to judge the quality of one's own piloting by oneself, and instructors can use this information to provide appropriate guidance, which can significantly improve the effectiveness of training. It became.

[Brief explanation of the drawing]

FIG. 1 is an explanatory diagram of a movement trajectory calculation method, FIG. 2 is a system configuration diagram of the present device, and FIG. 3 is a diagram showing an example in which the present invention is practically applied. 1...L car 2...Pulse encoder 6...Counter 4...Microcomputer 6...Display device

Claims (4)

[Claims] (1) An automobile driving technique training device comprising a movement trajectory detection means for detecting the movement trajectory of each wheel of the automobile, and a display means for displaying the movement trajectory obtained by the detection means. (2) The automobile driving skill training device according to claim 1, wherein the display means is configured to display the movement trajectory of each wheel along with the road pattern on which the vehicle is currently traveling. (3) The automobile driving skill training device according to claim 1, wherein the display means is configured to display the movement trajectory of each wheel together with the road pattern and the exemplary movement trajectory. (4) The movement trajectory detection means includes an encoder for detecting the amount of rotation provided on the left and right drive wheels, and an arithmetic device that processes the signal from the encoder, and the total amount of the signal from the encoder and the left and right encoder. An automobile driving technique training device according to any one of claims 1 to 6, which is configured to determine a movement trajectory based on a difference in signal amounts.