Toy car with yaw rate sensor

Abstract

The invention relates to a toy car 1 with wheels 2, 3 and a steering unit, and to a toy car system including a toy car 1 of this kind. The steering unit comprises a steering drive 4 acting on at least one of the wheels 2 and a control device 5 acting on the steering drive 4. The at least one wheel 2 acted upon by the steering drive 4 is steerably mounted on the body of the toy car 1 so that it is steerable with a variable steering angle α. The steering unit determines the yaw rate ω of the toy car 1 about its vertical axis z. z The steering drive 4, the control device 5 and the yaw rate sensor 6 together determine the yaw rate ω z to a predetermined target value. The toy car system includes a track 12 for the toy car 1, and the control device 5 includes at least one sensor 9 for detecting the predetermined track 12.

Description

[Technical field]

[0001] The present invention relates to a toy vehicle according to the preamble of claim 1 and also to a toy vehicle system comprising such a toy vehicle. [Background technology]

[0002] In the case of toy cars, i.e. remote-controlled model cars, there is a technical challenge of converting a steering signal into a steering movement of the steerable wheels which is responsible for steering the car. Proportional steering is performed by a conventionally configured steering unit of the toy car with a steering drive acting on the steerable wheels via a suitable mechanism, while the realized steering angle is calculated and fed back by a position measuring device. So-called servos (servomotor-servo mechanism) are widely known here, which act on the steering mechanism via a swivellingly driven servo arm and a rod connected thereto. For said position measurement, a potentiometer is located in the servo, by means of which the angular position of the servo arm and therefore also indirectly the steering position of the wheels is calculated and fed back. Eventually, a deflection of the servo arm proportional to the control signal and a function-dependent steering movement of the wheels can be achieved.

[0003] Furthermore, it is known to connect so-called "gyros" in addition to the servo arrangements with the steering drive and the position measuring devices. This historical term, which refers to a mechanical gyro, today generally means an electronic yaw rate sensor capable of detecting changes in direction relative to a reference direction. Such a yaw rate sensor is placed between the servo and a receiving unit which outputs a control signal and, together with an appropriate regulating loop, also realizes directional stabilization and the maintenance of a given driving direction.

[0004] As such toy cars continue to get smaller, the control of these cars becomes more and more delicate, and mechanical defects such as steering jerks prove to have an even greater effect. The smaller the car gets, the more difficult it becomes to create a manageable controllability. In particular, the direct or indirect calculation of the steering angle, for example via said servo potentiometer, requires structural space that is hardly present in small toy cars. In addition, part of the output of the steering drive must be utilized to overcome the mechanical friction of the steering angle determination, which entails a correspondingly strong dimensioning of the steering drive. In addition to this, there is a vulnerability to errors and the corresponding costs. These problems are further aggravated when a yaw rate sensor also needs to be used. Summary of the Invention [Problem to be solved by the invention]

[0005] SUMMARY OF THE PRESENT EMBODIMENT An object of the present invention is to simplify the typical toy car, especially at small sizes, to allow for easy and manageable steering. [Means for solving the problem]

[0006] This object is achieved by a toy car having the features of claim 1.

[0007] It is a further object of the present invention to specify a toy car system in which said toy car is capable of moving along a predetermined trajectory.

[0008] This object is achieved by a toy car having the features of claim 11.

[0009] The invention is based on the concept of completely omitting a direct or indirect calculation of the steering angle and performing steering via a control loop with a yaw rate sensor instead of, but not as a complement to, the steering angle calculation. The yaw rate sensor, which calculates the yaw rate (rotational speed) of the toy car about its vertical axis, the steering drive and the control device together form a control loop which sets said yaw rate of the toy car to a predefined target value. In this highly efficient control loop, the magnitude of the steering angle and its calculation are not important. Rather, a control process running in the control device must act on the steering drive so that the desired or predefined yaw rate of the car is set. The current yaw rate is determined by the yaw rate sensor. The control loop acts on the steering so that the actually calculated car yaw rate is matched to the target value or at least close enough to it.

[0010] Now, let us take as an example the process of starting a car. The toy car is placed on its track and the current steering angle is not important. It may have any desired value initially and when the car starts, the car will drive a more or less pronounced curve depending on the steering angle position that happens to be present. After the car starts, the yaw rate of the toy car related to driving the curve around its vertical axis is set immediately and can be immediately identified by the yaw rate sensor. Then, the above mentioned control loop acts on the steering with a high regulating speed, so that the target value of the car yaw rate (= 0 when driving straight, non-zero when driving around a curve) is set after a very short regulating time.

[0011] Since the steering position determination is omitted, the expense, structural space and especially the mechanical resistance of the potentiometer and its actuation mechanism are no longer present. A small steering drive with a low transmission ratio is therefore sufficient. In particular, due to that view of the low transmission ratio, a very fast-reacting control loop can be realized, as is needed to regulate small reactive systems. The adjustment deviations can be reduced to an infinitesimal level. Steering backlash and other defects can be immediately corrected, so that a simple and cost-effective mechanical structure is sufficient. Overall, there are very low structural space requirements, and a further prerequisite for making small toy cars is thereby fulfilled. The low transmission ratio of the steering mode has the further advantage of mechanical durability. Despite the delicate structure, the risk of damage to the steering transmission is low.

[0012] Various options can be considered for generating the yaw rate target value. In a preferred embodiment of the invention, the control device of the toy car comprises a receiver for the control signal of the remote control device, the control device being designed to derive a target value for the yaw rate of the car from the control signal received at the receiver. Thus, when the receiver receives a control signal from the remote control device to drive in a straight line or around a curve, the control device converts this control signal into a corresponding target value for the yaw rate. The control loop further described above then adjusts the actual yaw rate of the toy car to said target value, so that the toy car follows the control signal of the remote control device.

[0013] Alternatively or in combination therewith, the control device includes at least one sensor for detecting the predefined track, the control device being designed to derive a setpoint value for the yaw rate from a sensor signal calculated by the sensor. The control device is advantageously designed in this connection to derive a setpoint value for the yaw rate from a sensor signal calculated by the sensor, so that the toy car follows the track. Eventually, for example, a practice mode can be implemented in which the car first automatically follows the predefined track. An additional control signal of the remote control device can then be modulated in that respect. The user can thus correct the route, search for the ideal line or otherwise get used to the controls without constantly running the risk of the car going off track.

[0014] Additionally or additionally, it is expedient if the control device is designed to derive influences on certain driving events, in particular braking, acceleration and / or yaw rate, from the sensor signals calculated by the sensors. In a simple form, this can appear as, for example, the detection of a certain position on the track, which leads to a certain control event. Reaching the edge of the road can, for example, cause deceleration, an evasive steering action or a simulation of a steered skid movement.

[0015] An infrared sensor with an infrared emitter and an infrared receiver has proven to be suitable for the technical implementation of the detection of a given track. In a corresponding toy car system, the track is provided with an infrared-sensitive orientation pattern. Since the infrared detection occurs outside the light spectrum perceptible to the human eye, the technical function of track detection is separated and decoupled from the visual appearance of the track. It is therefore possible to provide the track with the appearance of a road or a race track, in particular, inside which the infrared-sensitive orientation pattern is visually unobtrusively hidden. In an advantageous variant, the infrared-sensitive orientation pattern is covered by an infrared-sensitive and visually opaque cover layer, which offers considerable design freedom for an optical appearance that is completely separated from track detection. For track detection, the cover layer is illuminated in the infrared range in an eye-imperceptible manner. This makes it possible to scan the underlying orientation pattern without affecting the appearance perceived by the eye.

[0016] In an advantageous embodiment, the infrared-sensitive orientation pattern comprises a pattern of alternating light and dark triangular sections extending transversely over the track. As the vehicle drives over these triangular sections, the sensor identifies successions of light and dark areas, and the relative proportions of light and dark simply give information about where exactly the vehicle is located laterally on the road. The direction of travel relative to the longitudinal direction of the road can be derived from the change in relative proportions.

[0017] In a further advantageous embodiment, the infrared-sensitive orientation pattern comprises a pattern of alternating light and dark lines extending transversely over the track. These patterns can be attached, for example, to the ends of road segments. The vehicle's sensors then identify, based on the specific line pattern, for example the type of road segment to be followed, i.e. whether it is a straight line or a curved section. Alternatively or supplementarily, such line patterns can also mark specific locations related to events, such as start and finish lines identified by the sensors in the manner described above, the passage of which under certain circumstances initiates a given event, such as a time measurement, the end of a race after reaching a certain number of laps, etc.

[0018] In a preferred embodiment, the toy car is a replica car with at least two steerable wheels and at least two non-steerable wheels, the car stands or runs in a stable manner on its wheels and its movement can be adjusted with little technical effort, thereby creating a realistic driving impression.

[0019] In an advantageous variant, the toy car is a replica motorcycle with one steerable and one non-steerable wheel, which entails additional technical challenges with regard to assuming a specific leaning position when driving around curves, but also gives additional possibilities in designing the driving modes.

[0020] In principle, it is also conceivable to adjust the lean position to be taken during operation with the aid of a suitable sensor device in such a replica motorcycle. However, this presupposes that the lean position is adapted to the centrifugal forces occurring when driving around curves. However, it is the case that the extension of the scaled replica motorcycle and the track to be driven leads to unrealistic looking lean positions in conjunction with the appropriate curve speed, affecting the optical appearance during operation. Therefore, a toy car designed as a replica motorcycle preferably has a controlled support device for presetting the lean angle of the vertical axis with respect to the surface normal of the track to be driven. The support device may be optically well hidden so that it is hardly noticeable by the observer. It allows the setting of the lean position of the car to simulate a scaled driving mode with a realistic overall impression, whereas the centrifugal forces acting in reality require different, generally less lean positions.

[0021] The pivot angle of such a support device can be set by a servo of known type, for example with a potentiometer. In a preferred development, the actuation of the support device is however carried out according to the same principle as for the steering drive described at the beginning: the support device, which is acted upon by the pivot drive, is pivotally arranged on the body of the toy car with a variable pivot angle. The steering unit comprises a yaw rate sensor for calculating the yaw rate of the toy car about its longitudinal axis and therefore does not have a sensor for calculating the pivot angle. The pivot drive, the control device and the yaw rate sensor together form a control loop for setting the yaw rate to a predefined setpoint value. In connection with the actuation of the steering, the same advantages arise as described above.

[0022] At this point, it is expressly pointed out that within the scope of the present invention, the control and regulation of the yaw rate described herein may be applied solely to steering (controlling the yaw rate of the toy car about its vertical axis), solely to the tilt angle of the car (controlling the yaw rate of the toy car about its longitudinal axis), or alternatively to a combination thereof. This includes the option that steering control according to the present invention may be combined with servo-driven tilt position setting, or servo-driven steering may be combined with tilt position control according to the present invention.

[0023] Exemplary embodiments of the invention are explained in more detail below on the basis of the drawings. [Brief description of the drawings]

[0024] [Figure 1] FIG. 1 shows, in a schematic perspective view, a toy car according to the prior art with a steering drive, a control device and a potentiometer for indirectly detecting the steering angle. [Diagram 2] FIG. 2 shows, in a schematic perspective view, a first variant according to the invention of a toy car as a replica car with a yaw rate sensor instead of a potentiometer. [Diagram 3] FIG. 3 shows a variation of the toy car according to FIG. 2 with gear segment steering instead of rack and pinion steering. [Figure 4] FIG. 4 shows, in a schematic diagram, a toy car system according to the invention comprising a toy car according to FIG. 2 or 3 equipped with an infrared sensing track and a smartphone as a remote control. [Diagram 5] FIG. 2 shows, in a schematic side view, another embodiment of a toy vehicle as a replica motorcycle with a support device for setting the inclination angle of the vehicle vertical axis. [Figure 6] FIG. 6 shows in front view the toy car according to FIG. 5 driving on curves and tilt angles set by the support device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0025] FIG. 1 shows, in a schematic perspective view, a toy car 1′ according to the prior art, which is a replica car. The bodywork, the traction drive, the rear wheel suspension etc. are not shown for better visibility. The toy car 1′ has a longitudinal axis x fixed to the car and a vertical axis z fixed to the car. In normal driving mode, the toy car 1′ moves in the direction of its longitudinal axis x and therefore the steering movements result in a yaw rate ω z The rotor also undergoes a yaw motion about a vertical axis z having a magnitude

[0026] The toy car 1' has two steerable front wheels 2 and two non-steerable driven rear wheels 3 located on fixed axles. The front wheels 2 are steerably mounted on the body 16 of the toy car 1' by means of steering knuckles, whereby the wheels can be set with a desired steering angle α about a vertically extending steering axis 27. The corresponding yaw rate ω about the vertical axis z of the toy car 1 depends on the current speed of the toy car 1. z When traveling in the direction of its longitudinal axis x, a selection of steering angle α occurs, and when traveling in a straight line, the yaw rate ω z is equal to 0, and the yaw rate ω z is not zero. The toy car 1' comprises a steering drive 4 acting on the steerable wheels 2 and on which a control device 5 also acts. The control device 5 comprises a receiver 7 (shown only diagrammatically) for control signals of an emitter (not shown). These control signals are converted in the control device 5 for controlled operation of the steering drive 4. The steering drive 4 comprises a steering motor 20 which sets the steering angle α of the front wheels 2 via a steering transmission 17. For this purpose, the steering transmission 17 comprises a pinion 18 which meshes with a rack 19 connected to the steering knuckle of the front wheels 2. The resulting lateral pushing movement of the rack 19 adjusts the front wheels 2 to the desired steering angle α.

[0027] In order to feed back said steering movement, the steering unit shown here according to the prior art is equipped with a sensor which calculates the steering angle α. According to the servo drive principle, said sensor is integrated in the steering transmission 17 and is coupled to the steering movement of the wheels 2 via an independent set of gears, in the manner of the potentiometer 15 shown here. By indirect steering angle detection, the achieved steering angle α can be deduced from the initial value of the potentiometer 15, from the known transmission ratio of the steering transmission 17 and collectively from the known steering dynamics. The achieved steering angle α is fed back from the potentiometer 15 to the control device 5 in the form of an initial value, so that a proportional control is formed.

[0028] Figure 2 shows, in a perspective view, a toy vehicle 1 as a variant according to the invention of the toy vehicle 1' according to figure 1. Unless explicitly indicated differently, the same features, properties and operations are present and the same reference numbers are used for the same features.

[0029] The operation of the steering motor 20 via the steering transmission 17 for setting the steering angle α of the front wheels 2 is as described above. However, there is no potentiometer 15 (FIG. 1) or any other sensor to calculate the steering angle α and feed it back to the control device 5. The steering angle α actually present or set during maneuvering is not known to the control device 5, nor is it necessary according to the invention.

[0030] Rather, the steering unit of the toy car 1 according to the invention detects, instead of said steering angle sensor, the current yaw rate ω of the toy car 1 about its vertical axis z. z The yaw rate sensor 6 is interconnected with the steering drive 4 and calculates the yaw rate ω z To this end, the control device 5 forms a control loop for setting the actual yaw rate ω zA comparison is made between the predetermined setpoint value and the steering angle α of the steerable wheels 2. The regulating deviation determined by this comparison is converted in the control device 5 into a corresponding action of the steering drive 4, which leads to a reduction or elimination of the regulating deviation by resetting the steering angle α of the steerable wheels 2. In this case, a P-controller (proportional controller) is used for this, which allows a certain regulating deviation that is actually tolerable. However, for higher control requirements, a different controller can also be selected, for example a PID-controller (proportional integral controller) or a more complex control system.

[0031] In the exemplary embodiment according to Fig. 2, a straight-line driving situation is shown, and the associated operating method according to the invention is described below. The steerable wheels 2 have a steering angle α of 0°, whereby they are essentially oriented parallel to the longitudinal axis x. The associated yaw rate ω z is equal to 0. When the receiver 7 receives a control signal from the remote control device 8 shown in FIG. 4 to drive in a straight line, the yaw rate ω z The target value for is fixed at 0, which corresponds to the desired straight line driving.

[0032] If the toy car is actually driving in a straight line, there is no control deviation and the above mentioned control loop does not interfere. However, if the car deviates from its basic driving direction about its longitudinal axis x, for example due to uneven ground or some other disturbance, this causes an increase in the yaw rate ω detected by the yaw rate sensor 6. z ≠0, which means there is a control error. z ≠ 0. Due to the control deviation, the actual yaw rate ω zThe control loop corrects the steering (changing the unknown steering angle α) until straight-line driving at α = 0 is restored. In the case of P-control, deviations of the orientation of the longitudinal axis x from the previous orientation may occur, which is, however, usually sufficient to stabilize the vehicle. In the case of higher control requirements, for example, where a return of the longitudinal axis x to the initial orientation (head hold) is caused, the use of PID-control is expedient. In the same way, the yaw rate ω as the setpoint value is z It is also possible to realize controlled driving around curves when ≠ 0.

[0033] In any case, the potentiometer 15 (FIG. 1) is completely eliminated in addition to the associated drive or a further sensor for calculating the steering angle α. The actual magnitude of the current steering angle α is not important for the functioning of the control loop according to the invention. Furthermore, the yaw rate sensor 6 is an electronic component with no mechanically moved parts and with a minimum overall structural space. It is shown here diagrammatically on the outside of the control device 5 for good visibility. In principle, however, it would be integrated into the control device 5 without utilizing additional structural space. The illustrated device according to the invention has a small overall volume, is mechanically robust, cost-effective and simple, and is therefore particularly suitable for miniature toy cars, for example for use in living rooms or on table surfaces.

[0034] Figure 3 shows a variant of the toy car 1 according to figure 2 with a slightly modified steering drive 17. The steering knuckles of the steerable front wheels 2 are not connected to a rack 19 (figure 2) but each connect to one gear segment 22 in the shape of a circular segment and mesh with a common pinion 21 located between them, with a vertical axis of rotation. In the remaining features and reference numbers the exemplary embodiment according to figure 3 corresponds to those according to figure 2.

[0035] By way of example, the situation of steering deviation of the front wheels 2 at start-off with a steering angle α≠0 is shown in Fig. 3, where again the relevant operating method according to the invention is described below. As soon as the car starts to move, the steering deviation causes the toy car 1 to have a corresponding yaw rate ω about the vertical axis z, which also depends on the current speed. z When the car starts to move from a standstill, the initial steering angle α is not important. The toy car 1 can be positioned on its track at any desired steering angle α, for example according to FIG. 3. As long as it is not moving, the actual yaw rate ω z = 0. However, as soon as the vehicle starts to move via its traction drive, which is present but not shown, with the deflected wheels 2, a corresponding non-zero yaw rate ω z When this target value is equal to 0 (desired straight line), the yaw rate ω z To the extent that straight line running at yaw rate ω = 0 is in fact detected by the yaw rate sensor 6 and provided to the control device 5, the control loop according to the invention corrects the steering. Only a minimum of strokes are required for this. The process of adjusting the vehicle from the initial position of the deflected wheels 2 to straight line running is so quick that it is practically unnoticeable by the user. Likewise, the same of course applies to the yaw rate ω z This also applies to adjusting the vehicle to maneuver around an intended curve, where the target value of deviates from zero.

[0036] Figure 4 shows, in a schematic perspective view, a toy car system according to the invention, comprising a toy car 1 according to figure 2 or 3, a road with tracks 12 and a remote control device 8. In addition to the devices shown in figures 2 and 3, the toy car 1 also comprises at least one sensor 9 for detecting a given track 12. This sensor is here an infrared sensor (IR sensor) with an infrared emitter 10 and an infrared receiver 11.

[0037] A straight road segment of the track 12 is shown here as an example. It may, however, also be a curve segment, a pit lane segment, etc., whereby any desired track can be constructed from such segments. However, a continuous track 12 formed as a complete track ready for use may also be provided. The track 12 is provided with an infrared-sensitive orientation pattern 13 corresponding to an infrared sensor. Various shapes can be envisaged for the configuration of the orientation pattern 13. In the preferred exemplary embodiment shown, it comprises a pattern of alternating light and dark triangles (in the infrared region) extending transversely over the track 12. The triangular sections of these triangles extend over the track 12, while the vertices of the triangles that are not important for the orientation are omitted for simplicity. In a more precise definition, it is therefore a pattern of alternating light and dark triangular sections 23 or trapezium extending transversely over the track 12. Furthermore, the infrared-sensitive orientation pattern 13 comprises a pattern of alternating light and dark lines 24 (in the infrared region) extending transversely over the track 12. In the present case, such a pattern of light and dark lines 24 is located at each end of the road segment. It is also expedient to attach the patterns of light and dark lines at different positions.

[0038] When the toy car 1 travels on the track 12 according to the invention and according to the operating method according to the invention, the infrared beam emitted by the infrared emitter 10 hits the orientation pattern 13, is reflected there and finally received by the infrared receiver 11. The intensity of the received infrared beam depends on whether the emitted infrared beam hits a light or a dark section of the infrared-sensitive orientation pattern 13. When the toy car 1 travels along the track 12, the infrared receiver 11 receives alternating weak and strong reflected signals. When the pattern of the triangular section 23 is detected, the succession of weak and strong signals varies with the change of the lateral positioning of the toy car 1 with respect to the track 12. How far the toy car 1 is positioned to the left or to the right on the track 12 can be calculated by a suitable evaluation algorithm. The orientation of the car longitudinal axis x with respect to the longitudinal direction of the track 12 (FIGS. 2, 3) can further be determined.

[0039] Additionally, specific information may be coded into the pattern of light and dark lines 24, which is identified by the infrared sensor when it is passed and then decoded, for example, in the control device 5. For example, it is possible to code into the pattern of light and dark lines 24 what kind of road segment it is (straight, sharp curves, etc.). When the vehicle enters such a road segment, the device in turn identifies the type of the next road segment by means of the infrared sensor, so that further operating procedures can be prepared, for example by adapting to the speed. Of course, different information can also be coded into the pattern of light and dark lines 24, such as, for example, the presence of a start line and a finish line. This information is detected and decoded in the same way, so that corresponding events (time measurement, lap counting, etc.) can be initiated.

[0040] In particular, in the context of the illustrated toy car, said sensor 9 is a functional part of a control device 5 (FIGS. 2 and 3), which derives the yaw rate ω zOn the other hand, the toy car 1 is designed to automatically follow the track 12 by deriving a target value for the yaw rate ω z Alternatively or additionally, the control device 5 can derive or determine target values ​​for certain driving events, in particular braking, acceleration and / or yaw rate ω from control signals calculated by the sensors 9. z For example, the car may be slowed down when it reaches the edge of the track and accelerated when it reaches the center of the track. Furthermore, the yaw rate ω z By varying the above, avoidance and skidding maneuvers can be simulated.

[0041] In particular, the yaw rate ω z The derivation of the target value for is performed in the control device depending on both the calculated sensor signals of the sensor 9 and the control signals generated by the remote control device 8 and received by the receiver 7. This allows, for example, a driving simulation in which the user can freely control the toy car 1 along the track 12 if certain conditions are met. If, however, the user steers the toy car 1 too close to the edge or into a specially marked area, this is detected by the sensor 9. Predetermined driving events, already mentioned above, can then be triggered, which affect the user's control signals. The effects can be superimposed (altered steering and / or braking actions). It is likewise conceivable that the control signals generated by the user are completely deactivated, for example to force the toy car to stop or move towards the edge of the road. A multiplayer mode with or without corresponding driving events adapted thereto is of course also possible.

[0042] Overall, it allows a realistic looking small format driving mode along a predefined track 12 with a realistic appearance. The degree of difficulty of the driving behavior of the toy car 1 can be set virtually as desired and adapted to the capabilities of the user. Thus, all hybrid formats can be set with different weightings between a fully autonomous mode, in which the toy car 1 automatically follows the track 12, and an electronically uninfluenced driving mode that is freely controlled.

[0043] Since the essential characteristic of the track 12 resides in its orientation pattern 13, it can be cost-effectively manufactured from simple materials such as cardboard. Virtually any desired track can be formed from its standardized segments and closed to form a circuit. The infrared-sensitive orientation pattern 13 is optionally covered by an infrared-transparent but visually opaque cover layer 14, so that the optical appearance of an asphalt track with side and center stripes, of a dirt road, or of any other desired simulated driving surface can be created. The underlying orientation pattern 13 is thereby covered and remains invisible to the human eye, but is accessible to the infrared sensor 9.

[0044] A conventional remote control known from car model making can be used as the remote control device 8. The remote control device 8 is preferably a smartphone with an application running thereon, which generates control signals for the toy car 1, as shown in FIG. 4. The wireless connection between the remote control device 8 and the toy car 1 is preferably made here via Bluetooth. However, Wifi connections or different forms of wireless connections are also expedient. The application running on the smartphone can be configured in a simple manner as just a control app or in a complex manner with sophisticated driving simulation. In particular there is the possibility of a multiplayer mode via an Internet connection. In this case several players physically separated from each other can create the same track from track segments and run cars there against each other in a competitive mode simultaneously and without them meeting physically. Thus collisions, overtaking maneuvers etc. can be simulated using the aforementioned means.

[0045] A further aspect is that the toy car 1 runs automatically or under user control over the entire road, thereby detecting it by the infrared sensor 9. In this way, the route of the laid out track 12 can be known and simulated before a real practice or competition run.

[0046] The invention has been described above on the basis of an example in which the toy car 1 is a replica car having at least two, in this case exactly two, steerable wheels 2 and at least two, in this case exactly two, non-steerable wheels 3. For the sake of simplicity, the yaw rate sensor 6 is here adapted to measure the yaw rate ω z It is shown only as a single axis yaw rate sensor that detects

[0047] In another embodiment of the invention, the toy car 1 according to the illustrations of figures 5 and 6 is a replica motorcycle with exactly one steerable wheel 2 and exactly one non-steerable wheel 3. The wheel 2, steerably mounted on the body of the toy car 1 with a variable steering angle α around the steering axis 27, is acted upon by the steering drive 4 in a similar manner to the exemplary embodiment according to figures 1 to 4. It is determined by the yaw rate ω about the vertical axis z by the steering drive 4, the control device 5 and the yaw rate sensor 6, which have been described in detail above. z Includes control of.

[0048] The yaw rate sensor 6 here, like the control device 5, detects the yaw rate ω z In addition to the yaw rate ω about the longitudinal axis x (Figure 6) x and yaw rate ω about the horizontal axis y y This is the standard form found today of commercially available yaw rate sensors 6, which are preferably used here in replica motorcycles but also in replica cars according to Figures 1-4.

[0049] In the front view according to Fig. 5 it can be seen that when the toy car 1 in the form of a replica motorcycle travels around a curve, its vertical axis z is inclined by an inclination angle γ to the surface normal z' of the track 12 along which it travels. Together with the toy car 1, its yaw rate sensor 6 is also inclined by this inclination angle γ. Traveling around the track 12 around a curve results in a yaw rate ω z’ The yaw rate sensor inclined by the inclination angle γ produces a yaw rate ω z and the resulting yaw rate ω about the horizontal axis y y , but also allows controlled travel on curves or in straight lines, as in the exemplary embodiment according to FIGS. 1 to 4, and detects the yaw rate ω about the surface normal z′ as implemented during the maneuver. z’is easily derived therefrom. When traveling in a straight line, the tilt angle γ is equal to 0, so that the vertical axis z is therefore vertical and parallel to the surface normal z'.

[0050] As can be seen by taking a joint look at Figures 5 and 6, the toy car 1 configured as a replica motorcycle has a controlled support device 25 for presetting the aforementioned tilt angle γ. In the illustrated exemplary embodiment, the support device is a set of arms attached to the bottom of the toy car 1 and projecting laterally. At least one of these arms, in this case both arms, stands on the track 12 with their end area during operation. For this purpose, small support rollers that roll on the track 12 are fixed to their ends. Instead of support rollers, skids or the like are also suitable. The arms of the support device 25 are pivotally mounted on the body of the toy car 1 with a changeable pivot angle δ, the associated pivot axis running parallel to the longitudinal axis x of the toy car 1. A pivot drive 26 for setting the pivot angle δ acts on the arms of the support device 25. It is also suitable for each arm to have its own pivot drive 26. The rotation angle δ set for each presets the inclination angle γ of the vertical axis z of the toy car 1 with respect to the surface normal z′.

[0051] The rotary drive 26 may be a servo with a conventional potentiometer. In the illustrated and preferred exemplary embodiment, the rotary drive 26 is part of the steering unit already described above, which does not have a sensor for calculating the rotary angle δ. Again, in connection with setting the tilt angle γ, the steering unit therefore does not have a potentiometer such as a servo. Rather, as with steering the wheel 2 about its steering axis 27, the rotary drive 26, the control device 5 and the yaw rate sensor 6 together calculate the yaw rate ω x A control loop is formed for setting the yaw rate ω to a predetermined target value. Thus, for example, when a toy car goes from driving in a straight line to driving around a curve, it must move from a vertical position to an inclined position with an inclination angle γ ≠ 0 for a realistic appearance. For this purpose, the method according to the invention calculates the yaw rate ω xA corresponding target value of yaw rate ω is generated and the support device 25 is moved accordingly towards the corrected pivot angle δ. Then, the yaw rate ω is adjusted to the desired value of yaw rate ω until the tilt angle γ reaches its desired value. x As soon as this occurs, the inclination angle γ is corrected with x The target value of is correspondingly restored to maintain the desired tilt angle γ being achieved. The adaptation of the various tilt angles γ works in a similar manner, which also applies to the orientation of the toy car after completing the curve. [Explanation of symbols]

[0052] 1 toy car 2,3 Wheels 4 Steering drive 5. Control device 6 Yaw rate sensor 7 Receiver 8 Remote Control Device 9 Sensors 10 Infrared emitter 11 Infrared receiver 12 Tracks 13 Orientation Pattern 14 Cover Layer 23 Triangular Section 25 Support Equipment 26 Rotation drive unit z vertical axis z' surface normal α Steering angle γ Tilt angle ω x Yaw rate ω z Yaw rate

Claims

1. The vehicle comprises wheels (2, 3) and a steering unit, The steering unit includes a steering drive (4) acting on at least one of the wheels (2) and a control device (5) acting on the steering drive (4), and the at least one wheel (2) acting on the steering drive (4) is steerably mounted on a body of the toy car (1) with a changeable steering angle (α), The steering unit detects the yaw rate (ω) of the toy car (1) about its vertical axis (z). ｚ ) and does not have a sensor for calculating the steering angle (α), The steering drive (4), the control device (5) and the yaw rate sensor (6) together detect the yaw rate (ω ｚ ) to a predetermined target value.

2. The control device (5) includes a receiver (7) for control signals from a remote control device (8), The control device (5) calculates the yaw rate (ω ｚ 2. The toy vehicle (1) according to claim 1, characterized in that it is designed to derive the target value for a

3. The control device (5) includes at least one sensor (9) for detecting a predetermined track (12); The control device (5) calculates the yaw rate (ω ｚ 3. The toy vehicle (1) according to claim 1 or 2, characterized in that it is designed to derive the target value for a toy vehicle.

4. The control device (5) calculates the yaw rate (ω) from the sensor signal calculated by the sensor (9) so that the toy car (1) follows the track (12). ｚ 4. The toy vehicle (1) according to claim 3, characterized in that it is designed to derive the target value for a

5. The control device (5) determines from the sensor signals calculated by the sensors (9) the specific driving events, in particular braking, acceleration and / or the yaw rate (ω ｚ 5. Toy vehicle (1) according to claim 3 or 4, characterized in that it is designed to derive an influence on the

6. The toy vehicle (1) according to any one of claims 3 to 5, characterized in that the sensor (9) for detecting the predetermined track (12) is an infrared sensor having an infrared emitter (10) and an infrared receiver (11).

7. A toy vehicle (1) according to any one of claims 1 to 6, characterized in that the toy vehicle (1) is a replica car having at least two steerable wheels (2) and at least two non-steerable wheels (3).

8. Toy vehicle (1) according to any one of the preceding claims, characterized in that the toy vehicle (1) is a replica motorcycle having one steerable wheel (2) and one non-steerable wheel (3).

9. 9. The toy car (1) according to claim 8, characterized in that the toy car (1) designed as a replica motorcycle has a controlled support device (25) for presetting the inclination angle (γ) of the vertical axis (z) relative to the surface normal (z') of the track (12) along which the toy car runs.

10. the steering unit includes a rotation drive device (26) acting on the support device (25), and the support device (25) acting on the rotation drive device (26) is rotatably installed on the body of the toy car (1) with a changeable rotation angle (δ); The steering unit detects the yaw rate (ω ｘ ) and does not have a sensor for calculating the rotation angle (δ), The rotation drive device (26), the control device (5) and the yaw rate sensor (6) are all connected to each other to detect the yaw rate (ω ｘ 10. The toy vehicle (1) according to claim 9, characterized in that it forms a control loop for setting the predetermined target value of the rotational speed of the toy vehicle (1) and the rotational speed of the toy vehicle (1).

11. A toy vehicle (1) according to any one of claims 1 to 10, further comprising a track (12) for said toy vehicle (1), The toy car system, wherein the control device (5) includes at least one sensor (9) for detecting the predetermined track (12).

12. The sensor (9) for detecting the predetermined track (12) is an infrared sensor, 12. The toy car system according to claim 11, characterized in that the track (12) is provided with an infrared-sensitive orientation pattern (13).

13. 13. The toy car system of claim 12, wherein the infrared sensitive orientation pattern (13) includes a pattern of alternating light and dark triangular sections (23) extending transversely over the track (12).

14. 13. The toy car system of claim 12, wherein the infrared sensitive orientation pattern (13) comprises a pattern of alternating light and dark lines (24) extending transversely onto the track (12).

15. A toy car system according to any one of claims 12 to 14, characterized in that the infrared-sensitive orientation pattern (13) is covered by an infrared-transparent, visually opaque cover layer (14).

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