JP7790589B2 - car - Google Patents

Description

The present invention relates to automobiles, and more particularly to automobiles that allow entertainment within the passenger compartment.

There are known automobiles that allow users to play racing games inside the vehicle by operating various operating devices such as a display, steering wheel, accelerator pedal, and brake pedal installed inside the vehicle (see article in non-patent document 1).

https://response.jp/article/2019/06/23/323716.html Article published on June 23, 2019 on the Automotive Media Response website: "Play games on Tesla's in-car display, latest title is 'Beach Buggy Racing 2'...Controlled with steering wheel and pedals"

However, in the above-mentioned conventional automobiles, when the steering wheel is operated, the steered wheels also turn on the spot, which can damage the tires and cause wheel alignment problems, adversely affecting the automobile's mechanisms.

The problem that this invention aims to solve is to provide a vehicle that allows passengers to enjoy entertainment such as games inside the vehicle cabin without adversely affecting the vehicle's mechanisms.

The present invention solves the above problem by controlling a steering-by-wire steering device so that, when an entertainment mode is selected in a vehicle equipped with an entertainment device, the steered wheels do not turn even when the steering wheel is operated.

The present invention allows people to enjoy entertainment such as games inside the vehicle without adversely affecting the vehicle's mechanisms.

1 is a block diagram showing an embodiment of a vehicle according to the present invention; FIG. 2 is a schematic diagram illustrating an example of the steering device shown in FIG. 1 . FIG. 10 is a front view showing an example of a display for allowing the driver to select between an entertainment mode and a driving mode. 2 is a schematic diagram showing a situation in which a car racing game is played using the entertainment execution device of FIG. 1; 2 is a schematic diagram illustrating a situation in which a radio-controlled toy car is controlled using the entertainment device of FIG. 1; 2 is a flowchart showing an information processing flow executed by the automobile of FIG. 1 . 7 is a flowchart (part 1) showing a subroutine of the operation mode (S6) of FIG. 6; 7 is a flowchart (part 2) showing a subroutine of the operation mode (S6) of FIG. 6; 7 is a flowchart showing a subroutine of the entertainment mode (S7) of FIG. 6. 10 is a flowchart (part 1) showing a subroutine of the game mode (S74) of FIG. 8. 10 is a flowchart (part 2) showing a subroutine of the game mode (S74) of FIG. 8. 10 is a flowchart (part 1) showing a subroutine of the radio control mode (S75) of FIG. 8. 10 is a flowchart (part 2) showing a subroutine of the radio control mode (S75) in FIG. 8.

Main Configuration of Automobile V According to the Embodiment
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS [0016] An embodiment of the present invention will now be described with reference to the accompanying drawings. Fig. 1 is a block diagram showing an embodiment of a vehicle according to the present invention. The vehicle V in this embodiment is equipped with an entertainment device 41. By activating the entertainment device 41 while the vehicle V is stationary and operating various control devices provided in the vehicle cabin, such as the display 6, steering wheel 501, accelerator pedal 14, and brake pedal 15, the occupant can enjoy racing games, operating radio-controlled toys, and the like within the vehicle cabin.

Therefore, the automobile V of this embodiment is equipped with an entertainment execution device 41 that runs racing games or other entertainment software or communicates with radio-controlled toys or other radio-controlled devices, a steering device 5 of the so-called steering-by-wire type in which the steering wheel 501 is mechanically separated from the steered wheels 502 and the operation of the steering wheel 501 is transmitted to the steered wheels 502 as an electrical signal, and a mode selection control device 2 that can select between an entertainment mode in which the entertainment execution device 41 is operated and a driving mode in which the automobile V is driven.

First, we will explain the steering-by-wire (SBW) type steering device 5 of this embodiment. Figure 2 is a schematic diagram showing an example of the steering device 5 of this embodiment, which includes a steering wheel 501 that can be steered by the driver, steerable wheels 502 which are the left and right front wheels, and a steering shaft 503. The steering wheel 501 is connected to the steering shaft 503 and is mechanically separable from the steerable wheels 502, 502. The steering shaft 503 is provided with a steering angle sensor 504, a reaction force motor 505, and a steering torque sensor 506.

The steering angle sensor 504 detects the steering angle of the steering wheel 501 and can be composed of an encoder or the like.

The reaction motor 505 applies torque to the steering shaft 503 to generate a steering reaction force on the steering wheel 501. The steering reaction force is a force that acts in the opposite direction to the steering direction in which the driver steers the steering wheel 501. The reaction motor 505 can be configured as a brushless motor or the like, and is driven in response to a reaction motor drive current output by the first control unit 51 of the SBW controller ECU 5, which will be described later.

The steering torque sensor 506 detects the steering torque transmitted from the steering wheel 501 to the steering shaft 503. The steering torque sensor 506 is configured to detect the steering torque, for example, by detecting the torsional angle displacement of a torsion bar using a potentiometer.

The steering device 5 of this embodiment further includes a clutch 507, a pinion shaft 508, a steering motor 509, a steering motor angle sensor 510, a pinion gear 511, a rack shaft 512, a tie rod 513, a knuckle arm 514, and an SBW controller ECU 5.

Clutch 507 is interposed between steering wheel 501 and steered wheels 502 and switches between an engaged and disengaged state in accordance with a clutch command current from SBW controller ECU 5. In this example, clutch 507 is a non-excitation engagement-type electromagnetic clutch. When the electromagnetic coil is de-energized, a cam roller mechanism, for example, engages rollers between the cam surface of the input shaft and the outer ring of the output shaft, engaging the input and output shafts. On the other hand, when the electromagnetic coil is energized, the attraction of the armature disengages the rollers between the cam surface of the input shaft and the outer ring of the output shaft, disconnecting the input and output shafts and disengaging the clutch. In this example, clutch 507 is in a disengaged state when the SBW system is operating normally, and is engaged when any abnormality occurs in the SBW system.

In addition, in the present example, when the clutch 507 is in a disengaged state, the torque transmission path between the steering wheel 501 and the steerable wheels 502 is mechanically separated, so that the steering operation of the steering wheel 501 is not transmitted to the steerable wheels 502. On the other hand, when the clutch 507 is in a engaged state, the torque transmission path between the steering wheel 501 and the steerable wheels 502 is mechanically connected, so that the steering operation of the steering wheel 501 is transmitted to the steerable wheels 502.

One end of the pinion shaft 508 is connected to the clutch 507, and the other end is provided with a pinion gear 511. The pinion gear 511 meshes with a rack gear provided between both ends of the rack shaft 512. Each end of the rack shaft 512 is connected to the steered wheels 502 via tie rods 513 and knuckle arms 514. As a result, the rack shaft 512 is displaced in the vehicle width direction in response to the rotation of the pinion gear 511, and the steered wheels 502 are steered via the tie rods 513 and knuckle arms 514. As a result, the direction of travel of the vehicle V changes.

Like the reaction motor 505, the steering motor 509 is composed of a brushless motor or the like, and is driven in accordance with the steering motor drive current output by the SBW controller ECU 5. By being driven in accordance with the steering motor drive current, the steering motor 509 outputs a steering torque for steering the steered wheels 502. A worm is provided at the tip of the output shaft of the steering motor 509, and a worm wheel is provided on the pinion shaft 508. The rotation of the steering motor 509 is transmitted to the pinion shaft 508 by the meshing of a worm gear 515 consisting of the worm and worm wheel.

The steering motor 509 is provided with a steering motor angle sensor 510. The steering motor angle sensor 510 detects the rotation angle of the steering motor 509. Here, the steering angle of the steered wheels 502 is uniquely determined by the rotation angle of the steering motor 509, the gear ratio of the worm gear 515, and the gear ratio between the pinion gear 511 and the rack gear of the rack shaft 512. Therefore, the steering angle of the steered wheels 502 can be obtained from the rotation angle of the steering motor 509. In other words, the steering angle of the steered wheels 502 can be obtained from the angle detected by the steering motor angle sensor 510.

The SBW controller ECU 5 is composed of a microcomputer including a processor, and reads the steering angle θs of the steering wheel 501 detected by the steering angle sensor 504, the steering torque T detected by the steering torque sensor 506, and the steering angle θr detected by the steering motor angle sensor 510. The SBW controller ECU 5 also receives vehicle speed Vd and yaw rate γ from a controller of another system (not shown). When the clutch 507 is disengaged, the SBW controller ECU 5 controls the driving of the steering motor 509 in accordance with the steering state of the steering wheel 501 to steer the steered wheels 502. As a result, the steering angle θr of the steered wheels 502 coincides with the steering command angle in accordance with the steering state of the steering wheel 501. At the same time, the SBW controller ECU 5 controls the driving of the reaction force motor 505 in accordance with the steering state of the steered wheels 502 to apply a steering reaction force to the steering wheel 501. As a result, a steering reaction force simulating a road reaction force is applied to the steering wheel 501. In this way, the SBW controller ECU 5 performs steer-by-wire control (hereinafter also referred to as SBW control).

More specifically, the SBW controller ECU 5 is configured to include a first control unit 51 and a second control unit 52, and the first control unit 51 outputs a first control variable corresponding to the steering reaction force on the steering wheel to the reaction force motor 505, and the second control unit 52 outputs a second control variable corresponding to the steering angle of the steered wheels to the steering motor 509.

Although not particularly limited, in the SBW controller ECU 5 of this embodiment, the first control unit 51 and the second control unit 52 each read detection values required for calculation, such as the steering angle θs of the steering wheel 501 detected by the steering angle sensor 504, the steering torque T detected by the steering torque sensor 506, the steering angle θr detected by the steering motor angle sensor 510, the vehicle speed Vd, and the yaw rate γ, and based on these, independently calculate the first control amount to be output to the reaction force motor 505 and the second control amount to be output to the steering motor 509.

Then, before outputting to the reaction force motor 505 and the steering motor 509, it is determined whether the first control amount and second control amount calculated by the first control unit 51 match the first control amount and second control amount calculated by the second control unit 52, and if they do not match, it is determined that some kind of abnormality has occurred in the steering device 5, and a signal indicating an abnormality is output.

As will be described in more detail below, in a driving mode in which the vehicle V is driven, the first control unit 51 outputs a first control variable corresponding to the steering reaction force applied to the steering wheel 501 to the reaction motor 505, and the second control unit 52 outputs a second control variable corresponding to the steering angle of the steered wheels 502 to the steering motor 509. However, in an entertainment mode in which the vehicle V is stopped and the entertainment execution device 41 is operated to enjoy a game or the like, the first control unit 51 outputs a first control variable corresponding to the steering reaction force applied to the steering wheel 501 to the reaction motor 505, while the second control unit 52 outputs a control variable of 0 to the steering motor 509, which does not change the steering angle of the steered wheels 502. This allows the driver to feel a steering reaction force corresponding to the content of the game at the steering wheel 501, and to stop the steering of the steered wheels 502 even when the steering wheel 501 is turned.

Returning to FIG. 1 , the automobile V of this embodiment is equipped with an IVI controller 4 including an entertainment execution device 41. The IVI controller 4 in this example refers to an in-vehicle infotainment device, a system comprised of a microcomputer including a processor, that provides information and entertainment. The IVI controller 4 in this example provides information by using a car navigation system to provide route guidance and road traffic information. The IVI controller 4 also provides entertainment by using an audio device 8 including a TV tuner and a display 6 to provide music, movies, television programs, and the like. In particular, the IVI controller 4 in this example is equipped with an entertainment execution device 41 that executes racing games and other entertainment software and communicates with radio-controlled toys and other radio-controlled devices. When game software is executed using the entertainment execution device 41, the software content can be accessed, for example, by connecting to a cloud server CS.

In this embodiment, the automobile V is equipped with a mode selection control device 2, which is composed of a microcomputer including a processor and can select between an entertainment mode for operating the entertainment device 41 and a driving mode for driving the automobile V. The mode selection control device 2 in this example includes a selection switch that allows the driver to select between the entertainment mode and the driving mode when the main switch 3 for starting the automobile V is turned on. Figure 3 is a front view showing an example of a selection switch displayed on the center display 61 of the instrument panel for allowing the driver to select between the entertainment mode and the driving mode. If the center display 61 is configured as an LCD touch panel or the like, the driver can select the desired mode by touching either the left portion P1 indicating the driving mode or the right portion P2 indicating the entertainment mode. The main switch 3 for starting the automobile V corresponds to an ignition switch in automobiles V equipped with an internal combustion engine, and corresponds to a power switch in electric vehicles and hybrid vehicles.

Incidentally, the mode selection control device 2 of this example requires the driver to select between entertainment mode and driving mode each time the main switch 3 for starting the vehicle V is turned on, which may make this selection operation cumbersome for drivers who are not interested in entertainment mode. Therefore, it is preferable that the mode selection control device 2 of this example be set as one of the so-called optional items when manufacturing the vehicle V in accordance with the driver's requests, and that it be installed only in vehicles V purchased by customers who require entertainment mode.

The mode selection control device 2 in this example not only allows the driver to select between entertainment mode and driving mode when starting the vehicle, but also has the function of controlling the steering device 5 so that the steered wheels 502 do not turn even when the steering wheel 501 is operated when the entertainment mode is selected. This will be described later.

In addition, the mode selection control device 2 in this example sets the initial value of the maximum rotation angle of the steering wheel 501 when the entertainment mode is selected to the same angle as the maximum rotation angle of the steering wheel 501 when the driving mode is selected, but is configured to be able to set the maximum rotation angle of the steering wheel 501 when the entertainment mode is selected to a value smaller than the maximum rotation angle of the steering wheel 501 when the driving mode is selected, depending on the driver's request. Setting the initial value of the maximum rotation angle of the steering wheel 501 when the entertainment mode is selected to the same angle as the maximum rotation angle of the steering wheel 501 when the driving mode is selected is because it is suitable for cases where driving operations in the entertainment mode are used as a simulator for a real vehicle, for example.

Furthermore, when the steering angle of the steered wheels 502 relative to the rotation angle of the steering wheel 501 is defined as the magnitude of the rotation angle of the steered wheels 502 relative to the rotation angle of the steering wheel 501, the mode selection control device 2 of this example is configured to be able to set the steering angle of the steered wheels when the entertainment mode is selected to be larger than the steering angle of the steered wheels when the driving mode is selected, in response to the driver's request. This eliminates the need to turn the steering wheel 501 significantly when playing games or operating a radio-controlled vehicle, enabling agile steering with a small steering angle. The maximum rotation angle of the steering wheel 501 can be adjusted by the control amount output to the reaction motor 505 and the steering motor 509. Therefore, the mode selection control device 2 of this example may set the maximum rotation angle of the steering wheel 501 to be smaller (larger steering angle of the steered wheels) in response to the driver's request, not only when the entertainment mode is selected but also when the driving mode is selected. This eliminates the need to turn the steering wheel 501 significantly during actual driving operations, enabling agile steering with a small steering angle.

As shown in FIG. 1, the automobile V of this embodiment includes a body control module 1. The body control module 1 is an electronic control unit that controls all vehicle body functions and is composed of a microcomputer including a processor. Similar to a typical automobile, the automobile V of this embodiment also includes a display 6, an air conditioning unit 7, an audio system 8 including speakers, a radio tuner, a TV tuner, and a CD/DVD/BD player, a seat position adjustment system 9 that adjusts the seat position and posture using an actuator, an air suspension system 10 that adjusts the vehicle body posture, steering switches 11 mounted on the steering wheel 501, a gear shift lever 12 also known as a floor shift lever, paddle shifters 13 mounted on the steering wheel 501, an accelerator pedal 14, and a brake pedal 15. In addition to these, the automobile V also includes interior and exterior lighting devices, door locking/unlocking devices, door window glass raising/lowering devices, door mirrors, interior mirrors, and windshield wipers.

In this embodiment, a communication path is constructed in the automobile V using an in-vehicle communication network (in-vehicle LAN) standard such as CSMA/CA multiplex communication (CAN: Controller Area Network) or FlexRay, and each controller, including the body control module 1, is connected to each other via a communication line 16 so that they can communicate with each other.

When a driving mode is selected by the mode selection control device 2, this is output from the mode selection control device 2 to the body control module 1, and the body control module 1 controls each controller shown in Figure 1 in normal driving mode.

In contrast, when the entertainment mode is selected by the mode selection control device 2, this is output from the mode selection control device 2 to the body control module 1, and the body control module 1 controls each controller according to the entertainment content being executed by the entertainment execution device 41. For example, an example of control of various devices of the automobile V will be explained using the case where an automobile racing game is played using the entertainment execution device 41. Figure 4 is a schematic diagram showing the situation in which an automobile racing game is played using the entertainment execution device 41.

In a car racing game such as that shown in Figure 4, the game software is displayed on the display 6, and the driver operates the steering wheel 501, accelerator pedal 14, and brake pedal 15 while looking at this screen. Furthermore, if there are operational inputs other than those for accelerating, decelerating, and turning the racing car, these are input using the various buttons on the steering switch 11, the paddle shift 13, and the gear shift lever 12. The operation amounts of the operation signals input from the steering wheel 501, accelerator pedal 14, brake pedal 15, the various buttons on the steering switch 11, the paddle shift 13, and the gear shift lever 12 are output to the entertainment execution device 41 via the communication line 16 and the body control module 1, and input to the game software as the control amounts for each operation defined in the game software. This allows the racing game to be played using the steering wheel 501 of the car V, etc.

On the other hand, when playing a car racing game, images are displayed on the display 6 as described above, while the audio output from the racing game is output from the speaker using the audio device 8. To enhance the sense of realism in a racing game, the actuator of the seat position adjustment device 9 may be controlled to impart vibration to the driver's seat. Similarly, the actuator of the air suspension device may be controlled to change the vehicle body position, giving the player a sense of cornering and acceleration/deceleration. Furthermore, when enjoying a role-playing game (RPG), the air conditioning device 7 may be operated to change the temperature inside the vehicle cabin according to the in-game environment, thereby enhancing the sense of realism. In this way, by controlling at least one of the display 6, air conditioning device 7, audio device 8, seat position adjustment device 9, and air suspension device 10 in response to a control signal from the entertainment execution device 41, the sense of realism of the entertainment can be further enhanced. Furthermore, in a vehicle equipped with an actuator that applies a reaction force to the accelerator pedal 14, this actuator may be controlled to apply a reaction force to the accelerator pedal 14, thereby enhancing the sense of realism during acceleration, etc. Furthermore, a master cylinder or a brake booster in the brake system may be controlled to add a reaction force to the brake pedal force, thereby providing the same feeling of pedal force as when driving a real vehicle.

In addition to running games and other entertainment software, the entertainment execution device 41 of this embodiment can also be used to remotely control radio-controlled cars and drones by communicating with a radio-controlled device RC. Figure 5 is a schematic diagram showing the situation in which the entertainment execution device 41 is used to operate a radio-controlled device RC, such as a radio-controlled car toy or a radio-controlled drone toy.

In a radio-controlled device RC, such as a radio-controlled car or drone as shown in FIG. 5, an image from a CCD camera mounted on the radio-controlled car or drone is displayed on the display 6, and the driver operates the steering wheel 501, accelerator pedal 14, and brake pedal 15 while viewing this screen. Furthermore, when there is an operation input other than acceleration/deceleration and turning of the radio-controlled car or drone, the operation is input using the various buttons on the steering switch 11, the paddle shift 13, and the gear shift lever 12. The operation amounts of the operation signals input from the steering wheel 501, accelerator pedal 14, brake pedal 15, the various buttons on the steering switch 11, the paddle shift 13, and the gear shift lever 12 are output to the entertainment execution device 41 via the communication line 16 and the body control module 1, and input to the radio-controlled device RC as the control amounts for each operation defined by the radio-controlled device RC. This allows the radio-controlled car or drone to be controlled using the steering wheel 501 of the automobile V, etc.

Meanwhile, when operating a radio-controlled car or radio-controlled drone, the camera image is displayed on the display 6 as described above, while the audio output from the radio-controlled device RC is output from the speaker using the audio device 8. To enhance the sense of realism of the radio-controlled car or radio-controlled drone, the actuator of the seat position adjustment device 9 may be controlled to impart vibration to the driver's seat. Similarly, the actuator of the air suspension device may be controlled to change the vehicle body position, giving a sense of cornering or acceleration/deceleration. Furthermore, the air conditioning device 7 may be operated to change the temperature inside the vehicle cabin according to the driving or flight environment, thereby enhancing the sense of realism. In this way, by controlling at least one of the display 6, air conditioning device 7, audio device 8, seat position adjustment device 9, and air suspension device 10 in response to a control signal from the entertainment execution device 41, the sense of realism of the entertainment can be further enhanced. Furthermore, in a vehicle equipped with an actuator that applies a reaction force to the accelerator pedal 14, this actuator may be controlled to apply a reaction force to the accelerator pedal 14, thereby enhancing the sense of realism during acceleration, etc. Furthermore, a master cylinder or a brake booster in the brake system may be controlled to add a reaction force to the brake pedal force, thereby providing the same feeling of pedal force as when driving a real vehicle.

Operation of the Vehicle According to the Embodiment
Next, the operation of the automobile V of this embodiment will be described. Figure 6 is a flowchart showing the information processing flow executed by the automobile V of this embodiment. First, in step S1, when the driver turns on the main switch 3 of the automobile V, the internal combustion engine starts in the case of an automobile equipped with an internal combustion engine, and the power supply from the main power supply to the electrical system starts in the case of an electric automobile. In the following step S2, control by the SBW controller ECU 5 is started, and if it is determined that there is no ≦ in the steering device 5, the clutch 507 is released in step S3 and put into a non-engaged state.

Then, in the following step S4, an image for selecting between driving mode and entertainment mode, as shown in Figure 3, is displayed on the center display 61. In step S5, if driving mode is desired, touch section P1, and if entertainment mode is desired, touch section P2. If section P1 indicating driving mode is touched, the process proceeds to step S6, whereas if section P2 indicating entertainment mode is touched, the process proceeds to step S7.

In step S8, if driving mode is selected, driving mode continues until the driver turns off the main switch 3 of vehicle V, and if entertainment mode is selected, entertainment mode continues until the driver turns off the main switch 3 of vehicle V. When the driver turns off the main switch 3, the internal combustion engine stops in the case of a vehicle equipped with an internal combustion engine, and the power supply from the main power source to the electrical system stops in the case of an electric vehicle, so in step S9, clutch 507 is engaged, changing from its previous disengaged state to an engaged state.

<<Operation mode>>
Next, the operation of the driving mode in step S6 will be described. Figures 7A and 7B are flowcharts showing a subroutine when the driving mode in step S6 of Figure 6 is selected. The calculation processes shown in Figures 7A and 7B are repeated at predetermined time intervals (for example, every few msec). When the driver selects a driving mode in step S5 of Figure 6, the process proceeds to step S601 of Figure 7A. In step S601, the detection signal from steering angle sensor 504 is read out to detect the steering angle of steering wheel 501.

Once the steering angle of the steering wheel 501 is detected in step S601, in the following steps S602 and S603, the first control unit 51 and the second control unit 52 of the SBW controller ECU 5 each read the steering angle θs of the steering wheel 501 detected by the steering angle sensor 504, as well as detection values required for calculation, such as the steering torque T detected by the steering torque sensor 506, the vehicle speed Vd, and the yaw rate γ, and independently calculate a second control variable to be output to the steering motor 509 based on these values. This second control variable is obtained as an output control value to the steering motor 509 corresponding to the steering angle of the steered wheels 502. Here, the second control variable calculated by the first control unit 51 is designated θ1, and the second control variable calculated by the second control unit 52 is designated θ2. Note that, although not particularly limited in the vehicle according to the present invention, an abnormality in related equipment can be discovered by having the first control unit 51 and the second control unit 52 perform the same calculation and confirm the consistency of the calculation results, as in this embodiment.

In step S604, the consistency of the second control variables θ1 and θ2 calculated in steps S602 and S603 is determined. A certain tolerance range may be set for this consistency determination, taking into account calculation errors, etc. If the second control variables θ1 and θ2 match (θ1 = θ2), the process proceeds to step S608 in Figure 7B, where normal steering control is executed. On the other hand, if the second control variables θ1 and θ2 do not match (θ1 ≠ θ2), the process proceeds to step S605, where a warning light provided on a meter display on the instrument panel or the like is turned on to indicate that an abnormality has been detected.

Following this, in step S606, excitation of the electromagnetic coil of the clutch 507 is stopped, changing the previous disengaged state to an engaged state. Alternatively, if the steering device 5 has been configured as a redundant system with multiple sensors, controllers, and motors, redundant control may be initiated to activate the backup system.

Following this, clutch 507 is engaged and the steering torque of steering wheel 501 is transmitted to pinion shaft 508, so in step S607, the system transitions to EPS control, which uses steering motor 509 as an actuator for electric power steering that assists the driver's steering operation. After that, electric power steering control is performed with clutch 507 engaged.

Returning to step S604 in FIG. 7A, if the second control variables θ1 and θ2 are the same (θ1 = θ2), the process proceeds to step S608 in FIG. 7B. In steps S608 to S610 in FIG. 7B, the second control unit 52 outputs the calculated second control variable θ2 to the steering motor 509 and performs angle servo control to steer the steerable wheels 502 via the pinion shaft 508, pinion gear 511, rack shaft 512, etc. As a result, the steerable wheels 502 are steered in accordance with the amount of operation of the steering wheel 501 by the driver, and the vehicle V turns in the desired direction.

In step S611, it is determined whether there is an input from the road surface to the steering gear via the steered wheels 502. If there is no input from the road surface, there is no need to apply a reaction force to the steering wheel 501, and the subsequent processing is terminated.

On the other hand, if there is input from the road surface, the process proceeds to steps S612 and S613, where the first control unit 51 and the second control unit 52 of the SBW controller ECU 5 each read detected values required for calculation, such as the steering angle θs of the steering wheel 501 detected by the steering angle sensor 504, the steering angle θr detected by the steering motor angle sensor 510, the steering torque T detected by the steering torque sensor 506, the vehicle speed Vd, and the yaw rate γ, and based on these, independently calculate a first control variable to be output to the reaction motor 505. This first control variable is obtained as an output control value to the reaction motor 505 that corresponds to the steering reaction torque of the steering wheel 501. Here, the first control variable calculated by the first control unit 51 is designated F1, and the first control variable calculated by the second control unit 52 is designated F2. Although not particularly limited to this, in the automobile according to the present invention, the first control unit 51 and the second control unit 52 perform the same calculation as in this embodiment, and by checking the consistency of the calculation results, abnormalities in related equipment can be discovered.

In step S614, the consistency of the first control variables F1 and F2 calculated in steps S612 and S613 is determined. A certain tolerance range may be set for this consistency determination, taking into account calculation errors, etc. If the first control variables F1 and F2 match (F1 = F2), the process proceeds to step S615, where reaction force control by the first control unit is performed as in a normal case. On the other hand, if the first control variables F1 and F2 do not match (F1 ≠ F2), the process proceeds to step S617, where a warning light provided on a meter display on the instrument panel or the like is turned on to indicate that an abnormality has been detected.

Following this, in step S618, F=0 is output as the first control variable to the reaction motor 505. That is, in the following step S619, the clutch 507 is engaged, so that the original mechanical reaction force is applied to the steering wheel 501, or alternatively, redundant control is initiated, and therefore the first control variable output to the reaction motor 505 is set to F=0.

Following this, in step S619, excitation of the electromagnetic coil of the clutch 507 is stopped, changing the previous disengaged state to an engaged state. Alternatively, if the steering device 5 has been configured as a redundant system with multiple sensors, controllers, and motors, redundant control may be initiated to activate the backup system.

Following this, clutch 507 is engaged and the steering torque of steering wheel 501 is transmitted to pinion shaft 508, so in step S620, the system transitions to EPS control, which uses steering motor 509 as an actuator for electric power steering that assists the driver's steering operation. After that, electric power steering control is performed with clutch 507 engaged.

Returning to step S614, if the first control variables F1 and F2 are the same (F1 = F2), proceed to step S615. In steps S615 and S616, the calculated first control variable F1 is output to the reaction force motor 505, and a pseudo force equivalent to the steering reaction force input from the road surface is applied to the steering wheel 501. This allows the driver to feel a reaction force corresponding to the driving operation.

Entertainment mode operation
Next, the operation of the entertainment mode in step S7 of Fig. 6 will be described. Fig. 8 is a flowchart showing a subroutine when the entertainment mode is selected in step S7 of Fig. 6. When the driver selects the entertainment mode in step S5 of Fig. 6, the process proceeds to step S71 of Fig. 8. In step S71, the entertainment execution device 41 is started up, and in the following step S72, an initial screen and a selection screen are displayed on the display 6. The entertainment execution device 41 of this embodiment has a game mode for enjoying games and a radio control mode for enjoying radio control devices, and therefore in the following step S73, the driver is prompted to select whether he wishes to execute the game mode or the radio control mode.

If the driver selects game mode, the process proceeds to step S74; if the driver selects radio control mode, the process proceeds to step S75. Details of the game mode in step S74 and the radio control mode in step S75 will be described later. In the following step S76, if the driver selected game mode in step S74, it is determined whether the game has ended; if the driver selected radio control mode in step S75, it is determined whether operation of the radio control device has ended; if so, the process terminates.

Game mode behavior in recreational mode
Next, an operation will be described when the driver selects the game mode in step S73 of Fig. 8. Figs. 9A and 9B are flowcharts showing the game mode subroutine in step S74 of Fig. 8. In the processing flow of Fig. 9A, one routine of calculations is executed when the game mode is selected, and the processing flow of Fig. 9B is repeatedly executed at predetermined time intervals (for example, every few msec) after the game control enters a standby state in step S745 of Fig. 9A.

First, when the driver selects the game mode, in step S741 of FIG. 9A, the IVI controller 4 begins overall control of the entertainment execution device 41, and the entertainment execution device 41 launches application software for executing the game. Then, in step S742, the entertainment execution device 41 accesses the cloud server CS, connects to the cloud game platform, and launches the desired game software, in this case a racing car game. As a result, in step S743, the entertainment execution device 41 displays the content of the selected racing car game on the display 6.

In step S744, the second control unit 52 outputs θ3 = 0 as the steering angle to the steering motor 509. Here, if the main switch 3 of the automobile V is turned ON in step S1 of FIG. 6 and then the entertainment mode is selected in step S7, SBW control by the SBW controller ECU 5 is initiated in the previous step S2, and the clutch 507 is disengaged in step S3. Therefore, when the steering wheel 501 is operated to operate a racing car in a racing car game, the steered wheels 502 are also steered by SBW control. In this embodiment, in step S744 before the game starts, the second control unit 52 outputs θ3 = 0 as the steering angle to the steering motor 509 so that the steered wheels 502 of the automobile V are not steered when the game is played.

In step S746, the system enters a standby state where game control is ready, and a game start button and other buttons are displayed on the display 6.

In step S746, game control enters standby mode, and when the game begins, the process proceeds to step S7401 in Figure 9B. Around this time, images and background music of the game content are output from the cloud game platform of the cloud server CS. The entertainment execution device 41 receives these images and background music, which are then displayed on the display 6 via the body control module 1, and the audio device 8 outputs background music from the speakers. When the racing game actually begins, the driver operates the accelerator pedal 14 and brake pedal 15 while operating the steering wheel 501 to drive the racing car in the game. In step S7401, the detection signal from the steering angle sensor 504 is read, and the steering angle of the steering wheel 501 is detected.

When the steering angle of the steering wheel 501 is detected in step S7401, in the following steps S7402 and S7403, the first control unit 51 and the second control unit 52 of the SBW controller ECU 5 each read the steering angle θs of the steering wheel 501 detected by the steering angle sensor 504, as well as the steering torque T detected by the steering torque sensor 506, the vehicle speed Vd, the yaw rate γ, and other detection values required for calculation, and based on these, independently calculate the second control variable to be output to the steering motor 509. Note that since the automobile V is stopped while the entertainment mode is being executed, the detection values of the vehicle speed Vd, yaw rate γ, etc. are those detected in the stopped state.

However, the second control variable in game mode is calculated as an output control value corresponding to the steering angle of the steered wheels of a racing car in the game content, rather than the steered wheels 502 of automobile V. Here, the second control variable calculated by the first control unit 51 is designated θ1, and the second control variable calculated by the second control unit 52 is designated θ2. Note that although not particularly limited to the automobile according to the present invention, even in game mode, as in this embodiment, by performing the same calculations in the first control unit 51 and the second control unit 52 and checking the consistency of the calculation results, it is possible to discover abnormalities in related equipment before driving automobile V again.

In step S7404, the consistency of the second control variables θ1 and θ2 calculated in steps S7402 and S7403 is determined. A certain tolerance range may be set for this consistency determination, taking into account calculation errors, etc. If the second control variables θ1 and θ2 match (θ1 = θ2), the process proceeds to step S7406, where normal steering control is executed. On the other hand, if the second control variables θ1 and θ2 do not match (θ1 ≠ θ2), the process proceeds to step S7405, where a warning light provided on the meter display of the instrument panel is turned on to indicate that an abnormality has been detected, and the game mode is then terminated.

Returning to step S7404, if the second control variables θ1 and θ2 are the same (θ1 = θ2), proceed to step S7406. In steps S7406 to S7407, the second control unit 52 outputs the calculated second control variable θ2 to the cloud game platform of the cloud server CS via the body control module 1 and the entertainment execution device 41, and steers the steered wheels of the racing car. As a result, the steered wheels of the racing car are turned in accordance with the amount of operation of the steering wheel 501 by the driver, and the racing car in the game turns in the desired direction.

Following this, in step S7408, the cloud game platform of cloud server CS determines whether there is input from the road surface during the game to the steering gear via the steering wheels of the racing car. If there is no input from the road surface, there is no need to apply a reaction force to the steering wheel 501, and the subsequent processing is terminated.

On the other hand, if there is input from the road surface, the process proceeds to step S7409, where the cloud game platform of the cloud server CS converts and calculates a control signal related to the steering reaction force based on various detection values during the game into a first control amount F1 to be output to the reaction force motor 505 of the automobile V. This first control amount F1 is calculated as an output control value for the reaction force motor 505 corresponding to the steering reaction force torque of the steering wheel 501.

In steps S7410 to S7412, the first control amount F1 output from the cloud game platform of the cloud server CS is output to the first control unit 51, and the first control unit 51, which has received this, outputs the first control amount F1 to the reaction force motor 505. As a result, a pseudo force equivalent to the steering reaction force input from the road surface is applied to the steering wheel 501, allowing the driver to feel a reaction force corresponding to the driving operation.

Although not shown in Figure 9B, in addition to reflecting the reaction force that the racing car receives from the road surface to the steering wheel 501 of the automobile V, the cloud game platform of the cloud server CS may detect the impacts and acceleration/deceleration forces (gravitational force G experienced by the driver) that the racing car receives, and output these to the entertainment execution device 41, thereby controlling the actuator of the seat posture adjustment device 9 to impart vibration to the driver's seat, or controlling the actuator of the air suspension device to change the posture of the vehicle body, thereby imparting a feeling of cornering or acceleration/deceleration. Furthermore, a reaction force against the pressure applied to the accelerator pedal 14 or brake pedal 15 may be applied to provide the same sensation as operating a real vehicle.

《Radio control mode operation in entertainment mode》
Next, an operation will be described when the driver selects the radio control mode in step S73 of Fig. 8. Figs. 10A and 10B are flowcharts showing the radio control mode subroutine in step S75 of Fig. 8. Note that the processing flow in Fig. 10A executes one routine of calculations when the radio control mode is selected, and the processing flow in Fig. 10B is repeatedly executed at predetermined time intervals (e.g., every few msec) after the radio control enters standby mode in step S755 of Fig. 10A.

First, when the driver selects the radio-controlled car mode, in step S751 of FIG. 10A, the IVI controller 4 begins overall control of the entertainment execution device 41, and the entertainment execution device 41 launches application software for performing radio-controlled car operations. Then, in step S752, the entertainment execution device 41 accesses the cloud server CS, connects to the cloud game platform, and connects to the desired radio-controlled device RC, in this case, a radio-controlled car. As a result, in step S753, the entertainment execution device 41 displays on the display 6 an image captured by the camera mounted on the selected radio-controlled car.

In step S754, the second control unit 52 outputs θ3 = 0 as the steering angle to the steering motor 509. Here, if the main switch 3 of the automobile V is turned ON in step S1 of FIG. 6 and then the entertainment mode is selected in step S7, SBW control by the SBW controller ECU 5 is started in the previous step S2, and the clutch 507 is disengaged in step S3. Therefore, when the steering wheel 501 is operated to operate the radio-controlled car, the steered wheels 502 are also steered by SBW control. In this embodiment, in step S754 before the start of radio-controlled operation, the second control unit 52 outputs θ3 = 0 as the steering angle to the steering motor 509 so that the steered wheels 502 of the automobile V are not steered when radio-controlled operation is performed.

In step S756, the radio control operation control enters standby mode and is ready for operation, and a radio control operation start button and other buttons are displayed on the display 6.

In step S756, the radio control operation control enters standby mode, and when radio control operation begins, the process proceeds to step S7501 in Figure 10B. Around this time, the radio control device RC outputs camera images and audio collected by the microphone. The entertainment execution device 41 receives these and displays the camera images on the display 6 via the body control module 1, while outputting the collected audio from the speaker using the audio device 8. When remote control of the radio control car actually begins, the driver operates the steering wheel 501 while operating the accelerator pedal 14 and brake pedal 15 to drive the remotely controlled radio control car. In step S7501, the detection signal from the steering angle sensor 504 is read, and the steering angle of the steering wheel 501 is detected.

When the steering angle of the steering wheel 501 is detected in step S7501, in the following steps S7502 and S7503, the first control unit 51 and the second control unit 52 of the SBW controller ECU 5 each read the steering angle θs of the steering wheel 501 detected by the steering angle sensor 504, as well as the steering torque T detected by the steering torque sensor 506, the vehicle speed Vd, the yaw rate γ, and other detection values required for calculation, and based on these, independently calculate the second control variable to be output to the steering motor 509. Note that since the automobile V is stopped while the entertainment mode is being executed, the detection values of the vehicle speed Vd, yaw rate γ, etc. are the detection values for the stopped state.

However, the second control variable in radio control mode is calculated as an output control value corresponding to the steering angle of the steered wheels of the radio-controlled car being operated, rather than the steered wheels 502 of the automobile V. Here, the second control variable calculated by the first control unit 51 is designated θ1, and the second control variable calculated by the second control unit 52 is designated θ2. Note that, although not particularly limited to the automobile according to the present invention, even in radio control mode, as in this embodiment, by performing the same calculations in the first control unit 51 and the second control unit 52 and checking the consistency of the calculation results, it is possible to discover abnormalities in related equipment before driving the automobile V again.

In step S7504, the consistency of the second control variables θ1 and θ2 calculated in steps S7502 and S7503 is determined. A certain tolerance range may be set for this consistency determination, taking into account calculation errors, etc. If the second control variables θ1 and θ2 match (θ1 = θ2), the process proceeds to step S7506, where normal steering control is performed. On the other hand, if the second control variables θ1 and θ2 do not match (θ1 ≠ θ2), the process proceeds to step S7505, where a warning light on the instrument panel meter display or the like is turned on to indicate that an abnormality has been detected, and the radio control mode is then terminated.

Returning to step S7504, if the second control variables θ1 and θ2 are the same (θ1 = θ2), proceed to step S7506. In steps S7506 to S7507, the second control unit 52 outputs the calculated second control variable θ2 to the radio control device RC via the body control module 1 and the entertainment execution device 41, and steers the steered wheels of the radio-controlled car. As a result, the steered wheels of the radio-controlled car are turned in accordance with the amount of operation of the steering wheel 501 by the driver, and the radio-controlled car being remotely controlled turns in the desired direction.

Following this, in step S7508, the radio control device RC determines whether there is an input from the road surface to the steering gear via the steering wheels of the radio-controlled car. If there is no input from the road surface, there is no need to apply a reaction force to the steering wheel 501, and subsequent processing is terminated.

On the other hand, if there is input from the road surface, the process proceeds to step S7509, where the radio control device RC converts and calculates a control signal related to the steering reaction force based on various detection values during radio control operation into a first control amount F1 to be output to the reaction force motor 505 of the automobile V. This first control amount F1 is calculated as an output control value to the reaction force motor 505 corresponding to the steering reaction force torque of the steering wheel 501.

In steps S7510 to S7512, the first control amount F1 output from the radio control device RC is output to the first control unit 51, and the first control unit 51, which receives this, outputs the first control amount F1 to the reaction force motor 505. As a result, a pseudo force equivalent to the steering reaction force input from the road surface is applied to the steering wheel 501, allowing the driver to feel a reaction force corresponding to the driving operation.

Although not shown in Figure 10B, in addition to reflecting the reaction force received by the radio-controlled car from the road surface to the steering wheel 501 of the automobile V, the radio control device RC may detect the impacts and acceleration/deceleration forces received by the radio-controlled car (gravitational force G received by the driver) and output them from the radio control device RC to the entertainment execution device 41, which may then control the actuator of the seat position adjustment device 9 to impart vibration to the driver's seat, or control the actuator of the air suspension device to change the posture of the vehicle body and provide a sense of cornering or acceleration/deceleration. Furthermore, a reaction force against the pressure applied to the accelerator pedal 14 or brake pedal 15 may be applied to provide the same sensation as operating a real vehicle.

<<Actions and Effects of the Embodiments>>
As described above, the automobile V of this embodiment includes a steering device 5 in which the steering wheel 501 is mechanically separated from the steered wheels 502 and transmits the operation of the steering wheel 501 to the steered wheels 502 as an electrical signal; an entertainment execution device 41 that executes entertainment software or communicates with a radio-controlled device RC; and a mode selection control device 2 that is selectable between an entertainment mode in which the entertainment execution device 41 is operated and a driving mode in which the automobile V is driven, and that executes control according to the respective modes. When the entertainment mode is selected, the mode selection control device 2 controls the steering device 5 so that the steered wheels 502 are not steered even when the steering wheel 501 is operated, thereby suppressing so-called stationary steering. As a result, tire damage and wheel alignment problems are suppressed, and the automobile can be enjoyed in the passenger compartment, playing games and other entertainment activities, without adversely affecting the automobile's mechanisms.

Furthermore, in the automobile V of this embodiment, the mode selection control device 2 includes a selection switch that allows the driver to select between the entertainment mode and the driving mode when the main switch for starting the automobile V is turned ON. In other words, the entertainment mode is selected only when the automobile V is started by turning ON the main switch 3, so that the entertainment mode can be prevented from being selected while driving the automobile V.

Furthermore, in the automobile V of this embodiment, the mode selection control device 2 is installed in the vehicle when the automobile is manufactured in accordance with the driver's request. In other words, since the mode selection control device 2 is an optional setting when the automobile is manufactured, drivers who do not require the entertainment mode can choose not to install the mode selection control device 2. This avoids the hassle of performing mode selection operations every time the automobile V is started.

In addition, in the automobile V of this embodiment, the mode selection control device 2 sets the initial value of the maximum rotation angle of the steering wheel 501 when the entertainment mode is selected to the same angle as the maximum rotation angle of the steering wheel 501 when the driving mode is selected, and can set the maximum rotation angle of the steering wheel 501 when the entertainment mode is selected to a value smaller than the maximum rotation angle of the steering wheel 501 when the driving mode is selected, in response to the driver's request. Since the initial value of the maximum rotation angle of the steering wheel 501 when the entertainment mode is selected is set to the same angle as the maximum rotation angle of the steering wheel 501 when the driving mode is selected, this is suitable for use in driving operations in the entertainment mode as a simulator of a real vehicle. Furthermore, since the maximum rotation angle of the steering wheel 501 when the entertainment mode is selected can be set to a value smaller than the maximum rotation angle of the steering wheel 501 when the driving mode is selected, in response to the driver's request, there is no need to turn the steering wheel 501 greatly when playing games or operating a radio-controlled car, and agile steering operations can be achieved with a small operating angle.

In addition, in the automobile V of this embodiment, the steering device 5 includes a reaction motor (first actuator) 505 that applies a steering reaction force to the steering wheel 501, a steering motor (second actuator) 509 that steers the steerable wheels 502, a first control unit 51 that calculates a first control amount corresponding to the steering reaction force applied to the steering wheel 501 and controls the reaction motor (first actuator) 505 based on the first control amount, and a second control unit 52 that calculates a second control amount corresponding to the steering angle of the steerable wheels 502 and controls the steering motor (second actuator) 509 based on the second control amount. When a driving mode selection signal is input to the mode selection control device 2, the first control unit 51 outputs the first control amount to the reaction motor (first actuator) 505, and the second control unit 52 outputs the second control amount to the steering motor (second actuator) 509. On the other hand, when an entertainment mode selection signal is input to the mode selection control device 2, the first control unit 51 outputs the first control amount input via the entertainment execution device 41 to the reaction motor (first actuator) 505, and the second control unit 52 outputs 0 as the second control amount to the steering motor (second actuator) 509 and also outputs the second control amount to the entertainment execution device 41. As a result, stationary steering operation is suppressed in the entertainment mode, which prevents tire damage and wheel alignment from being disturbed, allowing the driver to enjoy entertainment such as games inside the vehicle without adversely affecting the vehicle's mechanisms. In addition, the steering reaction force according to the driving state in the entertainment mode can be reflected in the steering wheel 501.

In addition, in the automobile V of this embodiment, the first control unit 51 and the second control unit 52 each calculate the first control amount and the second control amount based on the operating angle of the steering wheel 501, and determine whether the first control amount F1 and the second control amount θ1 calculated by the first control unit 51 match the first control amount F2 and the second control amount θ2 calculated by the second control unit 52, respectively.If they do not match, a signal indicating that the steering device 5 is abnormal is output, so that abnormalities in the steering device 5 can be detected even when the entertainment mode is selected.

In addition, in the automobile V of this embodiment, the mode selection control device 2 detects the amount of operation of at least one of the steering wheel 501, accelerator pedal 14, brake pedal 15, steering switch 11, paddle shift 13, and gear shift lever 12, and outputs this as a control amount to the entertainment execution device 41, so that it can handle even game software or radio control equipment RC with many input items.

In addition, in the automobile V of this embodiment, the mode selection control device 2 controls at least one of the display 6, air conditioning device 7, audio device 8, seat posture adjustment device 9, and air suspension device 10 in response to a control signal from the entertainment execution device 41, thereby enhancing the sense of realism of game software and radio control equipment RC.

V...Automobile 1...Body Control Module (BCM)
2...Mode selection control device 3...Main switch 4...IVI controller (in-vehicle information and entertainment device)
41... Entertainment execution device 5... Steering device ECU 5... SBW controller 51... First control unit 52... Second control unit 501... Steering wheel 502... Steered wheels 503... Steering shaft 504... Steering angle sensor 505... Reaction motor (first actuator)
506...Steering torque sensor 507...Clutch 508...Pinion shaft 509...Steering motor (second actuator)
510...Steering motor angle sensor 511...Pinion gear 512...Rack shaft 513...Tie rod 514...Knuckle arm 515...Worm gear 6...Display 61...Center display 7...Air conditioning device 8...Audio device 9...Seat position adjustment device 10...Air suspension device 11...Steering switch 12...Gear shift lever 13...Paddle shift 14...Accelerator pedal 15...Brake pedal 16...Communication line RC...Radio control device CS...Cloud server

Claims (7)

a steering device in which a steering wheel is mechanically separated from steered wheels and an operation of the steering wheel is transmitted to the steered wheels as an electrical signal;
an entertainment execution device that executes entertainment software or communicates with the radio-controlled device;
a mode selection control device that is capable of selecting an entertainment mode for operating the entertainment device and a driving mode for driving the automobile, and that executes control according to each mode;
The mode selection control device includes:
When the entertainment mode is selected, the steering device is controlled so that the steered wheels are not turned even when the steering wheel is operated;
setting an initial value of the maximum rotation angle of the steering wheel when the entertainment mode is selected to the same angle as the maximum rotation angle of the steering wheel when the driving mode is selected;
A vehicle in which the maximum rotation angle of the steering wheel when the entertainment mode is selected can be set to be smaller than the maximum rotation angle of the steering wheel when the driving mode is selected, in response to a driver's request. The vehicle described in claim 1, wherein the mode selection control device includes a selection switch that allows the driver to select between the entertainment mode and the driving mode when a main switch for starting the vehicle is turned on. The vehicle described in claim 1 or 2, wherein the mode selection control device is installed in the vehicle during manufacture in accordance with the driver's requests. The steering device is
a first actuator that applies a steering reaction force to the steering wheel;
a second actuator for steering the steered wheels;
a first control unit that calculates a first control amount corresponding to a steering reaction force applied to the steering wheel and controls the first actuator based on the first control amount;
a second control unit that calculates a second control amount corresponding to a steering angle of the steered wheels and controls the second actuator based on the second control amount,
When the operation mode selection signal is input to the mode selection control device,
the first control unit outputs the first control amount to the first actuator;
the second control unit outputs the second control amount to the second actuator;
When the entertainment mode selection signal is input to the mode selection control device,
the first control unit outputs a first control amount input via the entertainment execution device to the first actuator;
3. The automobile according to claim 1, wherein the second control unit outputs 0 as the second controlled variable to the second actuator and also outputs the second controlled variable to the entertainment device. the first control unit and the second control unit calculate the first control amount and the second control amount based on the operation angle of the steering wheel,
determining whether the first control amount and the second control amount calculated by the first control unit match with the first control amount and the second control amount calculated by the second control unit;
5. The automobile according to claim 4 , wherein if they do not match, a signal is output indicating that the steering device is abnormal. 3. The automobile according to claim 1, wherein the mode selection control device detects the amount of operation of at least one of the steering wheel, accelerator pedal, brake pedal, steering switch, paddle shift, and gear shift lever, and outputs this as a control amount to the entertainment execution device. 3. The automobile according to claim 1 , wherein the mode selection control device controls at least one of a display, an air conditioning device, an audio device, a seat position adjustment device, and an air suspension device in response to a control signal from the entertainment execution device.