TOY VEHICLE WITH ROTATING SENSOR

Description

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

[0002] In toy vehicles, particularly remote-controlled model cars, a key technical challenge is converting a steering signal into a steering movement of the steerable wheels. Proportional steering is achieved by a steering unit in the toy vehicle of conventional design. This is accomplished by a steering actuator acting on the steerable wheels via a suitable mechanism, while the resulting steering angle is determined by a position measurement and fed back to the system. A servo is commonly used for this purpose. It acts on the steering mechanism via a pivoting servo arm and a connecting linkage. For the aforementioned position measurement, the servo contains a potentiometer that determines and feeds back the angular position of the servo arm and thus indirectly the steering position of the wheels.This allows for a deflection of the servo arm that is proportional to the control signal and a steering movement of the wheels that is functionally dependent on it.

[0003] Furthermore, it is known to integrate a so-called gyroscope or "gyro" in addition to the servo system with steering drive and position measurement. These historically based terms, referring to mechanical gyroscopes, now generally refer to an electronic rate sensor that can detect changes in direction relative to a reference direction. Such rate sensors are connected between the receiver unit that outputs the control signal and the servo, in order to achieve directional stabilization or even to maintain the intended direction of travel in conjunction with a suitable control loop. Such a system is known, for example, from WO 2016 / 168854 A1. WO 2016 / 026039 A1 and EP 1 977 964 A1 also describe comparable systems.

[0004] It has been observed that as toy vehicles become increasingly smaller, their steering becomes more twitchy, and mechanical shortcomings such as steering play or similar issues have a greater impact. Achieving manageable steering becomes more difficult with decreasing vehicle size. In particular, directly or indirectly determining the steering angle, for example via the aforementioned servo potentiometer, requires installation space that is scarce in small toy vehicles. Furthermore, some of the steering drive's power must be used to overcome the mechanical friction involved in determining the steering angle, necessitating a correspondingly robust steering drive. Added to this are a considerable susceptibility to failure and the associated costs. These problems are further exacerbated if a yaw rate sensor is also to be used.

[0005] The invention is based on the objective of simplifying a generic toy vehicle in such a way that uncomplicated, controllable steering is possible, especially in small sizes.

[0006] This problem is solved by a toy vehicle with the features of claim 1.

[0007] The invention further aims to provide a toy vehicle system in which the aforementioned toy vehicle can be moved along a predetermined track.

[0008] This problem is solved by a toy vehicle system with the features of claim 11.

[0009] The invention is based on the idea of ​​completely eliminating the need for direct or indirect determination of the steering angle and implementing steering via a control loop with a yaw rate sensor, rather than supplementing it. In this system, a yaw rate sensor for determining the vehicle's rotation rate around its vertical axis, a steering drive, and a control unit together form a control loop for adjusting the vehicle's rotation rate to a predetermined target value. In this highly effective control loop, the magnitude of the steering angle and its determination are irrelevant. Rather, the control process within the control unit simply needs to act on the steering drive in such a way as to achieve the desired or predetermined vehicle rotation rate. The current rotation rate is determined by the yaw rate sensor.The control loop acts on the steering in such a way that the actually determined vehicle rotation rate is brought into accordance with the target value or is at least sufficiently close to it.

[0010] The starting process serves as an example. The toy vehicle is parked on its track, regardless of the current steering angle. This angle can initially be any value and, depending on the randomly generated steering angle, results in a more or less pronounced turn when starting off. The vehicle's yaw rate around its vertical axis, associated with the turn, is established immediately after starting off and can be detected just as immediately by the yaw rate sensor. The aforementioned control loop then acts on the steering at high speed, such that the target value of the vehicle's yaw rate (0 for straight-ahead driving, ≠ 0 for turning) is reached after a very short response time.

[0011] By eliminating the need for steering position determination, the complexity, installation space, and especially the mechanical resistance of a potentiometer and its actuating mechanism are eliminated. Consequently, a small steering drive with only a low gear ratio can suffice. Particularly due to this low gear ratio, a very responsive control loop can be implemented, as required for the calibration of small, responsive systems. Control deviations can be reduced to the imperceptible range. Steering play or other deficiencies can be easily compensated for, so a simple and cost-effective mechanical design is sufficient. Overall, very little installation space is required, thus fulfilling another prerequisite for the realization of small toy vehicles. The low gear ratio of the steering drive also offers the advantage of mechanical robustness.Despite its delicate construction, the risk of damage to the steering gear is low.

[0012] Several options are available for generating the target yaw rate. In a preferred embodiment of the invention, the toy vehicle's control unit includes a receiver for control signals from a remote control, and the control unit is designed to derive a target yaw rate from the control signals received by the receiver. Thus, when the receiver receives the control signal for straight-ahead or cornering from the remote control, the control unit converts this control signal into a corresponding target yaw rate. The control loop described above then adjusts the actual yaw rate of the toy vehicle to the aforementioned target value, so that the toy vehicle follows the control signals from the remote control.

[0013] Alternatively, or in combination with this, the control unit can include at least one sensor for detecting a predefined lane. In this case, the control unit is designed to derive the target value for the rotation rate from the sensor signals. Advantageously, the control unit is designed to derive the target value for the rotation rate from the sensor signals in such a way that the toy vehicle follows the lane. This allows, for example, a training mode in which the vehicle initially follows a predefined lane automatically. Additional control signals from a remote control can then be superimposed. This enables the user to change the route, find an ideal line, or otherwise familiarize themselves with the controls without the risk of the vehicle constantly veering off course.

[0014] Additionally or supplementarily, it can be advantageous for the control unit to be designed to derive specific driving events, particularly braking, acceleration, and / or intervention in the yaw rate, from the sensor signals detected by the sensor. In a simple form, this could, for example, involve the detection of certain positions on the lane leading to specific control events. Reaching the edge of the lane, for instance, could trigger braking, the simulation of an evasive steering maneuver, or a controlled skid.

[0015] For the technical implementation of lane detection, an infrared (IR) sensor with an IR transmitter and an IR receiver has proven suitable. In the corresponding game vehicle system, the lane is marked with an IR-sensitive orientation pattern. Because infrared detection takes place outside the light spectrum perceptible to the human eye, the technical function of lane detection can be decoupled and separated from the visual appearance of the lane. This makes it possible, in particular, to provide a lane with the appearance of a road or racetrack, within which IR-sensitive orientation patterns are discreetly concealed. In an advantageous variant, the IR-sensitive orientation pattern is covered by an IR-transparent and visually opaque surface layer.The latter offers complete design freedom for the visual appearance, which is entirely independent of the lane detection. For lane detection, the top layer is illuminated in the IR range in a manner imperceptible to the eye. This allows the underlying orientation pattern to be scanned without affecting the appearance perceived by the eye.

[0016] In an advantageous embodiment, the IR-sensitive orientation pattern comprises a pattern of alternating light and dark triangular segments extending across the lane. When the vehicle passes over such triangular segments, the sensor detects a sequence of light and dark areas, with the relative ratio of light to dark providing a simple indication of the vehicle's precise lateral position on the roadway. Furthermore, a change in this relative ratio allows the vehicle to determine its direction of movement relative to the longitudinal direction of the roadway.

[0017] In a further advantageous embodiment, the IR-sensitive orientation pattern comprises a pattern of alternating light and dark lines extending across the lane. Such patterns can, for example, be applied to the ends of a lane segment. Based on a specific line pattern, the vehicle's sensor then recognizes, for example, the type of the following lane segment, i.e., whether it is a straight section, a curve, or the like. Alternatively or additionally, such a line pattern can also mark a specific location associated with an event. This could be a start / finish line or the like, which is recognized by the sensor in the manner described above, and whose crossing, under certain circumstances, triggers predefined events such as timing, the termination of a race after a certain number of laps, or the like.

[0018] In a preferred embodiment, the toy vehicle is a replica of a car with at least two steerable wheels and at least two non-steerable wheels. The vehicle stands or moves in a self-stabilizing manner on its wheels and its movement can be controlled with minimal technical effort in such a way as to create a realistic driving impression.

[0019] In one advantageous version, the toy vehicle is a replica of a motorcycle with one steerable wheel and one non-steerable wheel. This presents additional technical challenges regarding achieving a specific lean angle when cornering, but also opens up additional possibilities for designing the driving experience.

[0020] In principle, it is conceivable to regulate the lean angle of such a motorcycle replica using suitable sensors. However, this requires that the lean angle be adjusted to the centrifugal force encountered during cornering. However, replicating a motorcycle and the track on a reduced scale, combined with appropriate cornering speeds, would result in unrealistic lean angles that would detract from the vehicle's visual appearance. Therefore, a toy vehicle designed as a motorcycle replica preferably features a controlled support device to define a lean angle of the vertical axis relative to a surface normal of the track. This support device can be easily concealed visually, making it barely noticeable to the observer.It allows the adjustment of a vehicle tilt angle to simulate a scaled-down driving operation with a realistic overall impression, although the actual centrifugal forces would require a different, usually smaller, tilt angle.

[0021] The swivel angle of such a support device can be adjusted, for example, via a servo of known design with a potentiometer. In a preferred embodiment, however, the support device is controlled according to the same principle as the steering drive described earlier: The support device, which is actuated by the swivel drive, is pivotally mounted on the chassis of the toy vehicle with a variable swivel angle. The steering unit includes a yaw rate sensor for determining the toy vehicle's rotation rate around its longitudinal axis and does not include a sensor for determining the swivel angle. The swivel drive, the control unit, and the yaw rate sensor together form a control loop for adjusting the rotation rate to a predetermined setpoint. This results in the same advantages as described above in connection with the steering control.

[0022] It should be expressly noted here that, within the scope of the invention, the control of the yaw rate described herein can be applied either to the steering (yaw rate control of the toy vehicle about its vertical axis) alone, to the vehicle's roll angle (yaw rate control of the toy vehicle about its longitudinal axis) alone, or to a combination thereof. This includes the options that a steering control according to the invention can be combined with a servo-driven roll angle adjustment or a servo-driven steering system with a roll angle control according to the invention.

[0023] An embodiment of the invention is described in more detail below with reference to the drawing. The drawing shows: Fig. 1 in a perspective schematic view of a toy vehicle according to the prior art with steering drive, control unit and potentiometer for indirect detection of the steering angle, Fig. 2 in a perspective schematic view of a first modification of the toy vehicle according to the invention as a replica of a car with a yaw rate sensor instead of the potentiometer, Fig. 3 a variant of the toy vehicle according to Fig. 2 with a gear-segment steering system instead of a rack and pinion steering system, Fig. 4 in schematic representation a toy vehicle system according to the invention with a toy vehicle according to the Fig. 2 or 3 , with an IR-sensitive driving track and with a smartphone as remote control, Fig. 5 in a schematic side view an alternative design of the toy vehicle as a replica of a motorcycle with a support device for adjusting a tilt angle of the vehicle's vertical axis, and Fig. 6 in a front view the toy vehicle according to Fig. 5 in a curve and at an angle of inclination set by means of the support device.

[0024] Fig. 1 Figure 1 shows a schematic perspective drawing of a toy vehicle 1' representing a model of a car. The body, drive system, rear suspension, and similar components are omitted for clarity. The toy vehicle 1' has a fixed longitudinal axis x and a fixed vertical axis z. During normal operation, the toy vehicle 1' moves along its longitudinal axis x and also performs rotational movements about its vertical axis z with a rate of rotation ωz as a result of steering input.

[0025] The toy vehicle 1' has two front, steerable wheels 2 and two rear, driven, non-steerable wheels 3 mounted on a rigid axle. The front wheels 2 are steerably mounted on a chassis 16 of the toy vehicle 1' by means of steering knuckles, so that they can be adjusted to a desired steering angle α about vertically extending steering axes 27. When the toy vehicle 1 is traveling in the direction of its longitudinal axis x, the selected steering angle α results in a corresponding rotation rate ωz about the vertical axis z, depending on the current speed. The rotation rate ωz is zero when traveling straight ahead and deviates from zero when cornering. The toy vehicle 1' includes a steering drive 4 that acts on the steered wheels 2, which in turn is acted upon by a control unit 5. The control unit 5 includes a receiver 7, shown only schematically, for the control signals from a transmitter (not shown).These control signals are converted in the control unit 5 for controlled actuation of the steering drive 4. The steering drive 4 comprises an electric steering motor 20, which adjusts the steering angle α of the front wheels 2 via a steering gear 17. For this purpose, the steering gear 17 includes a pinion 18, which engages with a rack 19 connected to the steering knuckles of the front wheels 2. A resulting lateral thrust movement of the rack 19 aligns the front wheels 2 at a desired steering angle α.

[0026] To provide feedback on the aforementioned steering movement, the steering unit shown here is equipped, according to the prior art, with a sensor for determining the steering angle α. Based on the principle of a servo drive, this sensor is integrated into the steering gear 17 and, in its configuration shown here, is coupled to the steering movement of the wheels 2 via its own gear set as a potentiometer 15. By means of indirect steering angle detection, the achieved steering angle α can be deduced from the output value of the potentiometer 15, the known reduction ratio of the steering gear 17, and the overall known steering kinematics. The achieved steering angle α is fed back to the control unit 5 in the form of the output value from the potentiometer 15, thus establishing proportional control.

[0027] Fig. 2 shows in a perspective view a toy vehicle 1 as a modification according to the invention of the toy vehicle 1' according to Fig. 1 Unless expressly stated otherwise, the same characteristics, properties and effects apply, and the same reference symbols are used for the same characteristics.

[0028] The effect of the steering motor 20 via the steering gear 17 on the setting of the steering angle α of the front wheels 2 is as described above. However, a potentiometer 15 is missing ( Fig. 1 ) or another sensor for determining the steering angle α and providing feedback to the control unit 5. The steering angle α actually present or set during operation is not known in the control unit 5 and is also not required according to the invention.

[0029] Instead of the aforementioned steering angle sensor, the steering unit of the toy vehicle 1 according to the invention comprises a yaw rate sensor 6 for determining the current yaw rate ωz of the toy vehicle 1 about its vertical axis z. The yaw rate sensor 6 is connected together with the steering drive 4 and the control unit 5 to form a control loop, by means of which the yaw rate ωz of the toy vehicle 1 is set to a predetermined target value. For this purpose, the control unit 5 compares the actual yaw rate ωz determined by the yaw rate sensor 6 with the predetermined target value. The control deviation determined from this comparison is converted in the control unit 5 into a corresponding control of the steering drive 4, which, by adjusting the steering angle α of the steerable wheels 2, leads to a reduction or elimination of the aforementioned control deviation.In this case, a P-controller (proportional controller) is used, which allows a certain level of control deviation that is tolerable in practice. For more demanding control requirements, however, a different controller can be chosen, such as a PID controller (proportional-integral-differential controller) or an even more complex control system.

[0030] In the exemplary embodiment according to Fig. 2 The case of straight-ahead driving is shown, with the corresponding operating method according to the invention being described below. The steerable wheels 2 have a steering angle α of 0°, so that they are essentially aligned parallel to the longitudinal axis x. The corresponding rotation rate ωz is equal to 0. If the receiver 7 is connected to a Fig. 4 When the remote control 8 shown receives a control signal for straight-ahead driving, the setpoint for the yaw rate ωz is set to 0, which corresponds to the desired straight-ahead driving. If the toy vehicle is indeed driving straight, there is no control deviation, and the aforementioned control loop does not intervene. However, if the vehicle's longitudinal axis x is deflected from the intended direction of travel due to, for example, uneven ground or any other disturbance, this results in a yaw rate ωz ≠ 0, which is detected by the yaw rate sensor 6 and represents a control deviation. The control loop adjusts the steering accordingly (by changing the unknown steering angle α) until straight-ahead driving with the corresponding actual yaw rate ωz = 0 as the setpoint is achieved again.In the case of a pure proportional (P) control system, a deviation in the orientation of the longitudinal axis x from the previous orientation may occur, which is usually sufficient for vehicle stabilization. For more demanding control requirements, such as returning to the original orientation of the longitudinal axis x (heading hold), the use of a proportional-indicator (PID) control system is advisable. Similarly, controlled cornering with a setpoint of ωz ≠ 0 can be implemented in a similar manner.

[0031] In any case, a potentiometer 15 ( Fig. 1 ) along with its associated drive or any other sensor for determining the steering angle α is completely dispensed with. The actual magnitude of the current steering angle α is irrelevant for the functioning of the control loop according to the invention. Furthermore, the yaw rate sensor 6 is an electronic component without mechanically moving parts and requires minimal installation space overall. For clarity, it is shown schematically outside the control unit 5. In practice, however, it is integrated into the control unit 5 without requiring any additional installation space. The arrangement shown according to the invention is compact, mechanically robust, cost-effective, and simple, and therefore particularly suitable for micro-sized toy vehicles for operation, for example, in the living room or on a tabletop.

[0032] Fig. 3 shows a variant of the toy vehicle 1 according to Fig. 2 with a slightly modified steering operation 17. The steering knuckles of the steerable front wheels 2 are not connected to a rack 19 ( Fig. 2 ), but are connected to each by a circular segment-shaped toothed segment 22, in the toothing of which a common pinion 21, located centrally between them and with a vertical axis of rotation, engages. In the remaining features and reference numerals, the embodiment corresponds to Fig. 3 with those after Fig. 2 agree.

[0033] For example, in Fig. 3 The case of a steering angle of the front wheels 2 with a steering angle α ≠ 0 during starting off is illustrated, and the corresponding operating method according to the invention is described below. As soon as the vehicle is set in motion, the steering angle causes the toy vehicle 1 to turn, which in turn results in a corresponding rotation rate ωz about the vertical axis z, depending on the current speed. When starting from a standstill, the initial steering angle α is irrelevant. The toy vehicle 1 can, for example, turn with any steering angle α. Fig. 3 The vehicle is parked on its lane. As long as it is not moving, the actual yaw rate ωz = 0. However, as soon as the vehicle is set in motion by its existing, albeit not shown, drive system, the deflected wheels 2 result in an initial turn with a corresponding yaw rate ωz that deviates from zero. This yaw rate is immediately detected by the yaw rate sensor 6 and compared with the predetermined setpoint in the control unit 5. If this setpoint is equal to 0 (desired straight-ahead driving), the control loop according to the invention adjusts the steering until a straight-ahead driving position with a yaw rate ωz = 0 is actually detected by the yaw rate sensor 6 and fed into the control unit 5. Only minimal adjustments are required for this. The process of adjusting to straight-ahead driving from the initial position of the deflected wheels 2 is so fast that it is practically imperceptible to the user.The same principle applies, of course, to adjusting for an intended curve where the target value of the rotation rate ωz deviates from 0.

[0034] Fig. 4 Figure 1 shows a perspective overview of a toy vehicle system according to the invention, which includes a toy vehicle 1 according to the Fig. 2 or 3 , comprising a roadway with one lane (12) and a remote control (8). In addition to the one in the Fig. 2 and 3 The equipment shown in the illustration includes at least one sensor 9 for detecting the designated lane 12. This sensor is an IR sensor with an IR transmitter 10 and an IR receiver 11.

[0035] A straight segment of lane 12 is shown here as an example. However, it could also be a curved segment, a pit lane segment, or the like, from which any number of lanes can be assembled. Alternatively, a single, pre-formed lane 12 can be provided. Lane 12 is equipped with an IR-sensitive orientation pattern 13 corresponding to the IR sensor. Various shapes are possible for the design of the orientation pattern 13. In the preferred embodiment shown, it comprises a pattern of alternating light and dark triangles (in the IR range) extending transversely across lane 12. Triangle segments extend across lane 12, while the vertices of the triangles, which are irrelevant for orientation purposes, have been omitted for simplicity.More precisely, this is a pattern of alternating light and dark triangular segments 23 or trapezoids extending across lane 12. Furthermore, the IR-sensitive orientation pattern 13 comprises a pattern of alternating light and dark lines 24 extending across lane 12 (in the IR range). In this case, such a pattern of light and dark lines 24 is located at each end of the lane segment. Applying a pattern of light and dark lines may also be useful elsewhere.

[0036] As the toy vehicle 1 travels along the track 12, an IR beam emitted by the IR transmitter 10 strikes the orientation pattern 13, is reflected there, and is finally received by the IR receiver 11, according to the invention and an operating method according to the invention. The intensity of the received IR beam depends on whether the emitted IR beam strikes a light or a dark section of the IR-sensitive orientation pattern 13. As the toy vehicle 1 travels along the track 12, the IR receiver 11 receives alternating weak and strong reflected signals. When detecting the pattern of triangular segments 23, the sequence of weak and strong signals changes with a change in the lateral positioning of the toy vehicle 1 relative to the track 12.

[0037] A suitable evaluation algorithm can determine how far to the left or right the toy vehicle 1 is on lane 12. Furthermore, the orientation of the vehicle's longitudinal axis x ( Fig. 2 , 3 ) relative to the longitudinal direction of lane 12.

[0038] In addition, specific information can be encoded in the pattern of light and dark lines 24. This information is detected by the IR sensor when the vehicle passes over it and then decoded, for example, in the control unit 5. For instance, the pattern of light and dark lines 24 can encode the type of road segment (straight, tight curve, wide curve, etc.). When entering such a road segment, the system uses the IR sensor to detect the type of the next road segment, allowing the system to prepare for subsequent operations, such as adjusting the speed. Of course, other information can also be encoded in the pattern of light and dark lines 24, such as the presence of a start and finish line. This information is captured and decoded in the same way, enabling the triggering of corresponding events (timing, lap counting, etc.).

[0039] Particularly in the context of the toy vehicle system shown, the aforementioned sensor 9 is a functional part of the control unit 5 ( Fig. 2 , 3 The control unit 5 is designed to derive the target value for the yaw rate ωz from the control signals determined by the sensor 9. Firstly, the target values ​​for the yaw rate ωz can be derived and determined in such a way that the toy vehicle 1 automatically follows the lane 12. Alternatively or additionally, the control unit 5 can be designed to derive specific driving events, in particular braking, acceleration, and / or intervention in the yaw rate ωz, from the sensor signals determined by the sensor 9. For example, the vehicle can be braked when it reaches the edge of the lane and accelerated when it reaches the center of the lane. Furthermore, evasive or skidding movements can be simulated by changing the yaw rate ωz.

[0040] In particular, the control unit derives the target value for the rotation rate ωz based on both the sensor signals detected by sensor 9 and the control signals generated by the remote control 8 and received by receiver 7. This enables, for example, a driving simulation in which the user can freely control the toy vehicle 1 along the lane 12, provided certain conditions are met. However, if the user steers the toy vehicle 1 too close to the edge or into a specially marked zone, this is detected by sensor 9. Consequently, predetermined driving events, mentioned above, can be triggered, which intervene in the user's control signals. This intervention can take the form of a superposition (altered steering or braking effect).It is also possible to completely override the user-generated control signals, for example, to force the vehicle to stop or move to the side of the road. A multiplayer mode, with or without corresponding, tailored driving events, is also possible.

[0041] Overall, this enables a realistic-looking, small-scale driving experience along a predefined lane 12 with a realistic appearance. The driving behavior of the toy vehicle 1 can be adjusted to almost any difficulty level and adapted to the user's skill. All hybrid modes, ranging from fully autonomous operation, where the toy vehicle 1 automatically follows lane 12, to freely controlled, electronically uninfluenced driving, can be set with varying degrees of control.

[0042] Since the essential characteristic of the lane 12 lies in its orientation pattern 13, it can be manufactured cost-effectively from simple materials such as cardboard or the like. Almost any lane can be formed from standardized segments of this pattern and closed into a ring. Optionally, the IR-sensitive orientation pattern 13 is covered by an IR-permeable, but visually opaque, top layer 14, thereby creating the optical appearance of an asphalt road with shoulders and a center line, a gravel track, or any other simulated roadway. The underlying orientation pattern 13 is thereby concealed and remains invisible to the human eye, but is still accessible to the IR sensor 9.

[0043] A classic remote control system, familiar from model vehicle construction, can be used as remote control 8. Preferably, it is – as in Fig. 4 As shown, remote control 8 is used with a smartphone running an app that generates the control signals for the toy vehicle 1. The wireless connection between remote control 8 and the toy vehicle 1 is preferably via Bluetooth. However, a Wi-Fi connection or another form of wireless connection may also be suitable. The app installed on the smartphone can be a simple control app or a more complex one with an elaborate driving simulation. In particular, a multiplayer mode is possible via an internet connection. In this case, several players, even those geographically separated, can set up the same track using track segments and drive it simultaneously against each other in competition mode, without having to physically meet. Collisions, overtaking maneuvers, and the like can be simulated using the methods described above.

[0044] Another aspect is that the toy vehicle 1 can autonomously or under user control drive the entire track once and record it using the IR sensor 9. In this way, the course of the laid-out lane 12 can be recognized and fed into the simulation before the actual training or competition drive begins.

[0045] The invention is described above using an example in which the toy vehicle 1 is a replica of a car with at least two, here exactly two, steerable wheels 2 and with at least two, here exactly two, non-steerable wheels 3. For the sake of simplicity, the yaw rate sensor 6 is shown here only as a single-axis yaw rate sensor for detecting the yaw rate ωz about the vertical axis z.

[0046] In an alternative embodiment of the invention, the toy vehicle 1 is as shown in the illustration. Fig. 5, 6 A replica of a motorcycle with only one steerable wheel 2 and with only one non-steerable wheel 3. The wheel 2, which is mounted on the chassis of the toy vehicle 1 about a steering axis 27 with a variable steering angle α, is positioned in the same way as in the embodiment according to the Fig. 1 bis 4 under the influence of the steering drive 4, which includes the control of the rotation rate ω z about the vertical axis z by means of the steering drive 4, control unit 5 and rotation rate sensor 6 as described in detail above.

[0047] The gyroscope 6, like the control unit 5, is designed and capable of measuring not only the gyroscope rate ωz about the vertical axis z but also the gyroscope rate ωx about the longitudinal axis x ( Fig. 6 ) and rotation rate ω y about the transverse axis y. This is the currently standardized design of commercially available rotation rate sensors 6, which is preferred not only here for the simulation of a motorcycle, but also in practice for the simulation of a car according to the Fig. 1 bis 4 is used.

[0048] In the front view Fig. 5 It can be seen that when the toy vehicle 1, modeled as a motorcycle, is cornering, its vertical axis z is inclined relative to a surface normal z' of the lane 12 by an angle γ. The yaw rate sensor 6 is also inclined by this angle γ, along with the toy vehicle 1. Cornering on the lane 12 results in a yaw rate ωz' of the toy vehicle about the surface normal z', i.e., about an axis perpendicular to the surface of the lane 12. The yaw rate sensor, inclined by the angle γ, detects a resulting yaw rate ωz about the vertical axis z and a resulting yaw rate ωy about the transverse axis y. From these, the yaw rate ωz' about the surface normal z' is readily derived, enabling controlled cornering and straight-line driving as in the embodiment shown in the diagram. Fig. 1 bis 4 This is possible and is carried out in operation. When driving straight ahead, the angle of inclination γ is zero, meaning that the vertical axis z is upright and parallel to the surface normal z'.

[0049] From the overall view of Fig. 5, 6It follows that the toy vehicle 1, designed as a replica of a motorcycle, has a controlled support device 25 for setting the aforementioned inclined angle γ. In the illustrated embodiment, the support device consists of a pair of laterally projecting arms attached to the underside of the toy vehicle 1. At least one of these arms, here both arms, rests with their end regions on the track 12 during operation. For this purpose, small support rollers are attached to their ends, which roll on the track 12. Instead of the support rollers, skids or the like may also be suitable. The arms of the support device 25 are pivotally mounted on the chassis of the toy vehicle 1 with a variable pivot angle δ, the corresponding pivot axis running parallel to the longitudinal axis x of the toy vehicle 1. A pivot drive 26 acts on the arms of the support device 25 to adjust the pivot angle δ.It can also be advantageous for each arm to have its own swivel drive 26. The respective swivel angle δ determines the inclined angle γ of the vertical axis z of the toy vehicle 1 relative to the surface normal z'.

[0050] The swivel drive 26 can be a servo with a potentiometer in a conventional design. In the preferred embodiment shown, the swivel drive 26 is part of the steering unit already described above, which is free of a sensor for determining the swivel angle δ. Thus, the steering unit also manages without a potentiometer of a servo or the like in connection with the adjustment of the tilt angle γ. Rather, analogous to the steering of the wheel 2 about its steering axis 27, the swivel drive 26, the control unit 5, and the yaw rate sensor 6 together form a control loop for adjusting the yaw rate ωx to a predetermined setpoint: For example, if the toy vehicle is transitioned from straight-line driving to cornering, then for a realistic appearance it must be moved from an upright position to an inclined position with a tilt angle γ ≠ 0.In the inventive method, a corresponding setpoint for the rotation rate ωx is generated in the control unit, resulting in a modified swivel angle δ of the support device 25. Subsequently, the tilt angle γ changes with a rotation rate ωx until the tilt angle γ reaches its desired value. Once this has occurred, the setpoint for the rotation rate ωx is reduced accordingly, and the achieved, desired tilt angle γ is maintained. Adjustments of different tilt angles γ function in the same way, which also applies to righting the toy vehicle after completing a turn.

Claims

1. Toy vehicle (1) with wheels (2, 3) and with a steering unit, wherein the steering unit comprises a steering drive (4) acting on at least one of the wheels (2) and a control unit (5) acting on the steering drive (4), and wherein the at least one wheel (2) under the action of the steering drive (4) is steerably mounted on a chassis of the toy vehicle (1) with a variable steering angle (α) characterized in that the steering unit comprises a rotation rate sensor (6) for determining a rotation rate (ωz) of the toy vehicle (1) about its vertical axis (z) and is free of a sensor for determining the steering angle (α), and in that the steering drive (4), the control unit (5) and the rotation rate sensor (6) together form a control loop for setting the rotation rate (ωz) to a predetermined setpoint.

2. Toy vehicle (1) according to claim 1, characterized in that the control unit (5) includes a receiver (7) for control signals of a remote control (8), and in that the control unit (5) is designed to derive the setpoint for the rotation rate (ωz) from the control signals received in the receiver (7).

3. Toy vehicle (1) according to claim 1 or 2, characterized in that the control unit (5) includes at least one sensor (9) for detecting a predetermined track (12), and in that the control unit (5) is designed to derive the setpoint for the rotation rate (ωz) from the sensor signals determined by the sensor (9).

4. Toy vehicle (1) according to claim 3, characterized in that the control unit (5) is designed to derive the setpoint for the rotation rate (ωz) from the sensor signals determined by the sensor (9) in such a way that the toy vehicle (1) follows the track (12).

5. Toy vehicle (1) according to claim 3 or 4, characterized in that the control unit (5) is designed to derive particular driving events, in particular braking, accelerating, and / or intervention in the rotation rate (ωz), from the sensor signals determined by the sensor (9).

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

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

8. Toy vehicle (1) according to one of claims 1 to 6, characterized in that the toy vehicle (1) is a replica of a motorcycle with one steerable wheel (2) and with one non-steerable wheel (3).

9. Toy vehicle (1) according to claim 8, characterized in that the toy vehicle (1) designed as a replica of a motorcycle has a controlled support device (25) for specifying a tilt angle (γ) of the vertical axis (z) relative to a surface normal (z') of a track (12) to be travelled on.

10. Toy vehicle (1) according to claim 9, characterized in that the steering unit comprises a pivot drive (26) acting on the support device (25), wherein the support device (25) under the action of the pivot drive (26) is pivotably mounted on a chassis of the toy vehicle (1) with a variable pivot angle (δ), wherein the steering unit comprises a rotation rate sensor (6) for determining a rotation rate (ωx) of the toy vehicle (1) about its longitudinal axis (x) and is free of a sensor for determining the pivot angle (δ), and in that the pivot drive (26), the control unit (5) and the rotation rate sensor (6) together form a control loop for setting the rotation rate (ωx) to a predetermined setpoint.

11. Toy vehicle system, comprising a toy vehicle (1) according to one of claims 1 to 10, and further comprising a track (12) for the toy vehicle (1), wherein the control unit (5) comprises at least one sensor (9) for detecting the predetermined track (12).

12. Toy vehicle system according to claim 11, characterized in that the sensor (9) for detecting the predetermined track (12) is an IR sensor, and in that the track (12) is provided with an IR-sensitive orientation pattern (13).

13. Toy vehicle system according to claim 12, characterized in that the IR-sensitive orientation pattern (13) comprises a pattern of triangular sections (23) extending transversely across the track (12) and being alternatingly light and dark.

14. Toy vehicle system according to claim 12, characterized in that the IR-sensitive orientation pattern (13) comprises a pattern of lines (24) extending transversely across the track (12) and being alternatingly light and dark.

15. Toy vehicle system according to one of claims 12 to 14, characterized in that the IR-sensitive orientation pattern (13) is covered by an IR-permeable and visually opaque cover layer (14).