本研究利用個人行動電腦與嵌入式開發平台，包含86Duino One微控器以及TMS320F2812嵌入式數位訊號處理器實現車輛自動駕駛。在車輛橫向控制中，透過路徑與速度規劃系統使用差分衛星定位技術計算車輛橫向偏移量以及車頭偏移角。兩者資訊送至橫向模糊控制器，最後可得到目標方向盤轉角，使車輛追尋參考路徑行駛，實現車道保持功能。
車輛縱向控制部分，利用光學編碼器回授訊號計算出車輛速度與加速度。接著兩者和路徑與規劃速度系統給予的規劃速度與加速度的差量即為縱向控制系統中模糊演算法之輸入訊號，經過演算可獲得達到目標車速的目標油門輸出量，使車輛可以依照規劃速度行駛 。
在路徑與速度規劃系統中，本研究利用校園道路作為系統規劃路線，其中有緩彎、急彎、直線路段。系統會對照路線，得知車輛所在路段曲率，動態調整合適車速。另外，系統會利用二維雷達得知與障礙物相對距離。當車輛接近時，則透過車前雷射測距儀得知與障礙物間的相對距離。與障礙物相對距離和道路曲率是路徑與速度規劃系統即時調整適當行駛車速的依據。在障礙物相對距離低於安全距離時，系統會立即停車。在本論文最後一章節中的實驗結果呈現本研究所提出的系統可成功實現上述功能。

In this study, the autopilot system of the car is realized by the use of a personal mobile computer and embedded development platforms, such as 86Duino-One and TMS320F2812. In lateral control, lane keeping could be realized by the path and speed planning system using differential GPS, which computes lateral offset and head angle error information sent to lateral fuzzy controller. Lateral fuzzy controller computes desired steering wheel angel to let the car track the reference route perfectly.
In longitudinal control, speed and acceleration of the car can be obtained from a encoder. Difference between planning speed and instant speed is one of the inputs of longitudinal fuzzy controller, the other is the difference between planning acceleration and instant acceleration. Then, longitudinal fuzzy controller computes the desired throttle value to let the car track the planning speed.
In path and speed planning system, the road in NSYSU campus is the reference route. There are slight bend, sharp bend, and straight road in the reference route. Comparing to the route, the curvature of the present car position can be calculated. Then, the system can adjust planning speed in real time in accordance with variety of curvature. When an obstacle appears in front of the car, the system would get the information of relative distance with 2D-lidar. Relative distance and curvature of the reference route for path and speed planning system make the system adjust appropriate self-driving speed in real time. If relative distance is less than the safety distance 5 meter, the system would stop the car to reduce damage of impact. The experimental results show that the proposed system can successfully achieve the above functions.

論文審定書 i
致謝 ii
摘要 iii
Abstract iv
圖次 viii
表次 xii
第一章、緒論 1
1.1研究動機與目的 1
1.2文獻回顧 4
1.3主要貢獻 6
1.4論文架構 7
第二章、系統概述 8
2.1路徑規劃之車輛控制系統 8
2.2系統功能 8
2.3系統架構流程 9
2.3.1車輛即時動態定位系統 9
2.3.2 車前障礙物偵測系統 9
2.3.3車輛橫向控制系統 10
2.3.4車輛縱向控制系統 10
2.3.5路徑與速度規劃系統 10
第三章、系統實現 12
3.1實驗平台 12
3.1.1實驗載具平台 12
3.1.2實驗運算平台 12
3.1.3系統開發軟體與相關套件 16
3.2車輛橫向控制系統 17
3.2.1轉角感測器 17
3.2.2方向盤馬達 19
3.2.3全球衛星定位儀 20
3.3車輛縱向控制系統 21
3.3.1光學編碼器 21
3.3.2煞車制動系統 25
3.3.3油門控制線路 26
3.3.4前方障礙物偵測系統 27
3.3.5 路徑與速度規劃系統 33
3.4車輛控制系統演算法設計 38
3.4.1模糊演算法 38
3.4.2車輛橫向控制系統 39
3.4.3車輛縱向控制系統 48
3.5嵌入式開發板接線與周邊電路設計 57
3.6人機介面設計與功能介紹 59
第四章 實驗結果 61
4.1 實驗場景 61
4.2 路徑與速度規劃系統 61
4.2.1結果 61
4.3縱向控制系統 64
4.4 綜合縱向與橫向控制系統 67
第五章 結論與未來展望 70
5.1 結論 70
5.2 未來展望 71
參考文獻 72

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