Abstract: A track for a racing car game is described. The width of the track is formed so as to exhibit an optically graded lateral profile that is maintained along the length of the track. The optically graded profile thus provides a means for allocating each lateral position of the track with a unique level of reflectivity. In this way the level of light reflected onto a detector from a vehicle associated light source corresponds to a unique lateral position, and thus provides a diagnostic for determining the lateral position of the vehicle on the track and for maintaining this lateral position along the full length of the track. The track may therefore be considered to comprise a plurality of virtual slots for the vehicle between which the vehicle can easily move and the choice of which is determined by the vehicle's operator.

Abstract: A method and apparatus for controlling the position of a vehicle on a track so as to provide a slotless racing vehicle game is described. The method involves generating within a primary feedback loop a first input signal for a steering servo of the vehicle so as to minimize an error signal produced by comparing a measured lateral position of the vehicle on the track with its desired position. The method further comprises generating within a secondary feedback loop a second input signal for the steering servo so as minimize a measured angle of orientation of the vehicle on the track. It is found to be advantageous for the stability of the vehicle on the track if responsivity (Klf2) of the secondary feedback loop is set to be equal to the reciprocal of the responsivity (Kss) of the steering servo.

Abstract: A method and apparatus for controlling the position of a vehicle on a track so as to provide a slotless racing vehicle game is described. The method involves generating within a primary feedback loop a first input signal for a steering servo of the vehicle so as to minimise an error signal produced by comparing a measured lateral position of the vehicle on the track with its desired position. The method further comprises generating within a secondary feedback loop a second input signal for the steering servo so as minimise a measured angle of orientation of the vehicle on the track. It is found to be advantageous for the stability of the vehicle on the track if responsivity (Klf2) of the secondary feedback loop is set to be equal to the reciprocal of the responsivity (Kss) of the steering servo.

Abstract: A track for a racing car game is described. The width of the track is formed so as to exhibit an optically graded lateral profile that is maintained along the length of the track. The optically graded profile thus provides a means for allocating each lateral position of the track with a unique level of reflectivity. In this way the level of light reflected onto a detector from a vehicle associated light source corresponds to a unique lateral position, and thus provides a diagnostic for determining the lateral position of the vehicle on the track and for maintaining this lateral position along the full length of the track. The track may therefore be considered to comprise a plurality of virtual slots for the vehicle between which the vehicle can easily move and the choice of which is determined by the vehicle's operator.

Abstract: A method and apparatus for controlling the position of a vehicle on a track so as to provide a slotless racing vehicle game is described. The method involves measuring the lateral position of the vehicle on the track so as to minimize the distance with a user defined lateral position. A measured velocity of the vehicle is then feedback to a steering servo in order to stabilize the vehicle's position at the desired lateral position. In particular, the gain of a controller that generates the input signal for the steering servo is varied with the reciprocal of the square of the speed of the vehicle.

Abstract: A method and apparatus for controlling the position of a vehicle on a track so as to provide a slotless racing vehicle game is described. The method involves measuring the lateral position of the vehicle on the track so as to minimise the distance with a user defined lateral position. A measured velocity of the vehicle is then feedback to a steering servo in order to stabilise the vehicle's position at the desired lateral position. In particular, the gain of a controller that generates the input signal for the steering servo is varied with the reciprocal of the square of the speed of the vehicle.