Racing vehicle game
First Claim
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1. A method for controlling the position of a vehicle on a track wherein the method comprises the steps of:
- taking a first measurement of a lateral position of the vehicle on the track;
comparing the first measured lateral position with a desired lateral position for the vehicle so as to produce an error signal;
generating a first input signal for a steering servo of the vehicle so as to minimise the error signal;
measuring the speed of the vehicle;
employing the measured speed so as to compensate for speed dependent changes in a response of the vehicle to an output signal from the steering servo wherein the step of compensating for speed dependent changes in the response of the vehicle comprises varying the gain of a controller that generates the first input signal for the steering servo with the reciprocal of the square of the speed of the vehicle.
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Abstract
A method and apparatus for controlling the position of a vehicle on a track so as to provide a slotless racing vehicle game is described. The method involves measuring the lateral position of the vehicle on the track so as to minimize the distance with a user defined lateral position. A measured velocity of the vehicle is then feedback to a steering servo in order to stabilize the vehicle'"'"'s position at the desired lateral position. In particular, the gain of a controller that generates the input signal for the steering servo is varied with the reciprocal of the square of the speed of the vehicle.
16 Citations
18 Claims
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1. A method for controlling the position of a vehicle on a track wherein the method comprises the steps of:
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taking a first measurement of a lateral position of the vehicle on the track; comparing the first measured lateral position with a desired lateral position for the vehicle so as to produce an error signal; generating a first input signal for a steering servo of the vehicle so as to minimise the error signal; measuring the speed of the vehicle; employing the measured speed so as to compensate for speed dependent changes in a response of the vehicle to an output signal from the steering servo wherein the step of compensating for speed dependent changes in the response of the vehicle comprises varying the gain of a controller that generates the first input signal for the steering servo with the reciprocal of the square of the speed of the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A control circuit for controlling the position of a vehicle on a track wherein the control circuit comprises:
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a first measurement sensor for measuring a first lateral position of the vehicle on the track; a subtractor employed to produce an error signal by comparing the first measured lateral position with a desired lateral position for the vehicle; a controller for generating a first input signal for a steering servo of the vehicle so as to minimise the error signal; velocity sensor for measuring the speed of the vehicle; wherein the controller provides a means for employing the measured speed so as to compensate for speed dependent changes in a response of the vehicle to an output signal from the steering servo wherein a gain of the controller is varied with the reciprocal of the square of the speed of the vehicle speed so as to compensate for speed dependent changes in the response of the vehicle to an output signal from the steering servo. - View Dependent Claims (13, 14, 15, 16, 17, 18)
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Specification