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博碩士論文 etd-0903110-122949 詳細資訊
Title page for etd-0903110-122949
論文名稱
Title
智慧型車輛行駛控制器之設計與實現
Design and Implementation of an Intelligent Vehicle Driving Controller
系所名稱
Department
畢業學年期
Year, semester
語文別
Language
學位類別
Degree
頁數
Number of pages
95
研究生
Author
指導教授
Advisor
召集委員
Convenor
口試委員
Advisory Committee
口試日期
Date of Exam
2010-07-28
繳交日期
Date of Submission
2010-09-03
關鍵字
Keywords
車道變換、車道保持、智慧型車輛、閃避障礙物
Lane-keeping, Intelligent vehicle, Obstacle-avoidance, Lane-change
統計
Statistics
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中文摘要
本文主要目的為實現智慧型車輛之控制與設計。硬體方面,以電動車為主要實驗平台,搭配方向盤馬達、線性致動器與各式感測器,而控制核心部分主要以德州儀器(Texas Instruments,TI)所生產的eZdspTM F2812嵌入式控制系統為主,並結合影像處理技術達到車道保持、車道變換及閃避障礙物等安全功能。
在車道保持方面,主要利用影像處理技術給予前方車道資訊,如偏移量與角偏差量,並根據此車道訊息作為模糊演算法之輸入訊號,進一步獲得適合之方向盤轉角,使實驗車輛可以安全行駛於車道中。車道變換部分,主要經由陀螺儀取得一般駕駛者在做車道轉換時所行駛之開車軌跡,進而模擬一般駕駛者的開車行為,並在車道轉換結束時銜接車道保持之演算法,使本系統更為安全。而在閃避障礙物部分,主要為模擬當前方有物體靜止不動且阻礙車道之行駛路線,此時經由雷達感測器取得與前方障礙物之相對距離,當低於安全距離時啟動兩次車道變換,便可安全閃避前方障礙物。上述功能皆成功\以電動車平台實現於真實校園道路場景。
Abstract
The goal of this thesis is to implement the control and design of an intelligent vehicle based on an embedded DSP platform (eZdspTM F2812). The overall system including steering wheel AC serve motor, brake actuator, throttle driving circuit and the sensors is equipped in a golf car as a platform. Otherwise, digital image processing technology is used to realize the autonomous driving system which can achieve multi-mode of lane-keeping, lane-change and obstacle-avoidance.
In the lane-keeping control, the road information can be provided by the vision system. According to the offset and displacement of angle as input signal, a fuzzy controller is used to compute the desired steering wheel angle and let the golf car can cross road safely. In lane-change, a smooth trajectory can be generated by IMU, IMU is used to collect the information data of yaw rate and yaw angle when human-driving. That makes autonomous driving system become more humanlike and to achieve an open-loop lane-change maneuver. In obstacle-avoidance, we use a laser range scanner to detect the distance of a front obstacle. When the distance is lower than safety distance, double lane-change will be activated to avoid the front obstacle. The overall system has been examined on NSYSU campus roads.
目次 Table of Contents
誌謝 i
目錄 ii
圖目錄 v
表目錄 ix
摘要 x
Abstract xi
第一章 緒論 1
1.1 研究動機與目的 1
1.2 文獻回顧 5
1.3 主要貢獻 6
1.4 論文架構 7
第二章 系統架構 8
2.1 系統功能 9
2.1.1 車道保持 9
2.1.2 車道變換 10
2.1.3 閃避前方障礙物 11
2.2 系統流程 12
2.3 硬體實現 14
第三章 系統設計與演算法 15
3.1 模糊演算法 15
3.1.1 模糊化模組 17
3.1.2 模糊知識庫 22
3.1.3 模糊推論引擎 24
3.1.4 解模糊化 27
3.2 方向盤控制器 31
3.2.1 模糊控制器之設計 31
3.2.2 模糊化 32
3.2.3 模糊規則庫 35
3.2.4 模糊推論 37
3.2.5 解模糊化 38
第四章 系統實現 40
4.1 實驗平台 41
4.1.1 實驗車輛 41
4.1.2 數位訊號處理發展板 43
4.2 感測器 45
4.2.1 雷射測距儀 45
4.2.2 慣性量測單元 49
4.2.3 拉線式位移計 51
4.2.4 視覺系統 57
4.3 致動器 59
4.3.1 方向盤致動器 59
4.3.2 煞車致動器 61
4.3.3 油門驅動電路 62
4.4 軟體系統 66
第五章 實驗結果 68
5.1 車道保持 69
5.2 車道轉換 70
5.3 閃避前方障礙物 74
第六章 結論與未來展望 77
6.1 結論 77
6.2 未來展望 78
參考文獻 79
參考文獻 References
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