JPH0254951B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automobile driving technique training device used in driving schools and the like.

At driving schools, it is common for an instructor to accompany the student and give verbal guidance to the student, but if the student's driving skills have improved to a certain extent, the student is allowed to ride alone and the student is asked to observe the driving condition. It is efficient to monitor the students from the control tower, and it is also preferable in terms of fostering students' sense of independence. In this case, it is necessary for the control tower to specifically know the locus of movement of the wheels while the vehicle is running.

This invention has been made in view of the above circumstances, and provides a device that allows a control tower to specifically and clearly recognize the movement trajectory of the wheels of a car traveling on a predetermined route at a driving school. be.

That is, the driving skill training device according to the first invention includes a movement trajectory detection means for determining the movement trajectory of each wheel of the automobile, and a movement trajectory of each wheel obtained by the detection means to be used as a road pattern on which the vehicle is currently traveling. A driving technique training device according to a second aspect of the present invention further comprises: a moving trajectory detecting means for determining the moving trajectory of each wheel of the automobile; display means for displaying the travel trajectory of the vehicle along with the road pattern currently being traveled and the exemplary travel trajectory, each of the display means being installed in a control tower of a driving school.

A detailed explanation will be given below based on examples.

First, we will explain how to determine the trajectory of the wheels.First, speed sensors are attached to the left and right sides of the vehicle, and the distance traveled per unit time is determined.

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 is possible to determine the current position and heading of the vehicle. There are several methods for determining the left and right speeds of an automobile, but the following describes a method for measuring the rotational speeds of wheels that rotate independently on the left and right sides.

First, the left and right rear wheels W rotate through differential gears.
Attach a pulse encoder that can measure rotation at minute angles. Let D _L and D _R be the moving distance of the wheel per one pulse. Here, the subscript L is on the left, R
represents the right wheel.

Now, if we consider the case where the car moves in a circular arc for a unit time τ at a speed υ, the left and right wheels W _L ,
The locus of W _R and the midpoint P of the wheels (representative point of the car) is shown in Figure 1. The number of pulses generated by the left and right wheel pulse encoders during unit time τ is
If N _L and N _R , the traveling distance of the left and right wheels ΔL _L ,
ΔL _R becomes ΔL _L D _L N _L and ΔL _R = D _R N _R. Therefore, the moving distance ΔL of the representative point (the center of the rear wheel) is expressed as ΔL=ΔL _L +ΔL _R /2, and the traveling speed υ is υ=ΔL/τ. Also, if the turning radius at this time is r, the tread (wheel spacing) is T, and the amount of change in direction is Δθ, then from the relationship (r+T/2)Δθ=ΔL _L (r−T/2)Δθ=ΔL _R , Δθ =ΔL _L −ΔL _R /T, and ω=Δθ/τ is obtained as the turning angular velocity ω of the automobile. Therefore, the position (Xn, Yn) and the traveling direction θn at the time nτ of the car, which was at the position (Xn-1, Yn-1) and the traveling direction θn-1 at the time (n-1)τ, are As shown in FIG. 1, approximately Xn=Xn-1+ΔLsin(θn-1+Δθ/2) Yn=Yn-1+ΔLcos(θn-1+Δθ/2) θn=θn-1+Δθ. Here, it is assumed that τ is a short time and that ΔL and Δθ are also sufficiently small quantities. From the above results
By repeatedly calculating Xn, Yn, and θn with 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 W _L and W _R are expressed as (T/2, θn-90°) and (T /2, θn+90°).

In other words, if the center position (Xn, Yn) of the rear wheel and its traveling direction (θn) are separated, then T from the center position (Xn, Yn) at -90° and +90° from that direction (θn) The left and right rear wheels W _L and W _R are located at a distance of /2.

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 position of the front wheels can also be easily determined.

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 W _L and _WR of the automobile 1, respectively, and signals from the pulse encoders 2 are attached to the automobile 1. After being processed by the counter 3 and microcomputer 4, it is displayed on the display device 6 in the control tower via the D/A converter 5. As the display device 6, for example, one or more of a plotter, a CRT, an X-Y recorder, a liquid crystal display device, etc. can be used. When displaying this movement trajectory, it is convenient to simultaneously display the local pattern of the road on which the vehicle is currently traveling, as this allows for a very specific recognition of the traveling state.

In this case, it would be more convenient if the overall view of the driving road for training is displayed together with the local pattern, since the instructor can provide instruction from an overall perspective.

FIG. 3 is an overall view showing an example of a training road. In the figure, C represents a control tower.

Furthermore, if exemplary movement trajectories, such as the trajectory driven by the instructor, are displayed together with the movement trajectories and road patterns described above, 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, it is possible to use a coordinate position information output device (Japanese Patent Publication No. 54-1472) developed by the present inventor. In addition, display devices such as CRT,
It may be installed in a position within the control tower where the instructor can easily see it, but the obtained data may also be stored in a memory so that it can be reviewed repeatedly later.

As explained above, since the driving skill training device according to the present invention directly displays the movement trajectory of the wheels during driving in the control tower, an instructor who is not accompanying the student can check the steering wheel operation and wheel position of the student. It becomes possible to know concretely how the student is flying, and it becomes possible to judge remotely whether the student's flight is good or bad, and the instructor can use this information to provide appropriate guidance, increasing the effectiveness of the lesson. It has become possible to significantly improve this.

[Brief explanation of drawings]

FIG. 1 is an explanatory diagram of the movement trajectory calculation method, FIG. 2 is a system configuration diagram of the present device, and FIG. 3 is a diagram showing an example of a road for training. DESCRIPTION OF SYMBOLS 1...Automobile, 2...Pulse encoder, 3...Counter, 4...Microcomputer, 6...Display device, C...Control tower.

Claims (1)

[Scope of Claims] 1. A training device installed in a driving school, comprising a travel trajectory detection means for determining the travel trajectory of each wheel of an automobile, and a current detection means for detecting the travel trajectory of each wheel obtained by the detection means. 1. A driving technique training device for an automobile, comprising: display means for displaying a road pattern along with the road pattern being traveled, the display means being installed in a control tower of a driving school. 2. 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 signals from the encoder, and detects the total amount of signals from the encoders and the amount of signals from the left and right encoders. 2. The vehicle driving skill training device according to claim 1, wherein the vehicle driving technique training device is configured to obtain a movement trajectory based on the difference between 3. A training device installed in a driving school, which includes a travel trajectory detection means for determining the travel trajectory of each wheel of a vehicle, and a travel trajectory of each wheel obtained by the detection means, which is used to detect the current road pattern and the road pattern on which the vehicle is currently being driven. and a display means for displaying the exemplary movement trajectory,
An automobile driving technique training device, wherein the display means is installed in a control tower of a driving school. 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 detects the total amount of signals from the encoder and the amount of signals from the left and right encoders. 4. The vehicle driving skill training device according to claim 3, wherein the vehicle driving technique training device is configured to obtain a movement trajectory based on the difference between