以DSP為基礎之合作式路口安全策略之市區巡航及停走系統

Abstract

現今在智慧型運輸系統中的先進車輛控制安全系統裡，停走系統已經是一項高度發展的技術。然而，傳統停走系統在於前方車輛距離的偵測上有所不足，且在其主要應用範圍之市區道路環境中常見的路口，並沒有相對應的應變策略，因此，本篇論文的目標在於設計一套應用於市區道路環境的車輛輔助駕駛系統，包含了定速巡航、停走系統以及路口策略。 在本篇論文中，我們呈現了合作式路口安全策略之市區巡航及停走系統的設計以及實現。此系統採用階層式的設計架構，其中包含了決策管理與速度控制兩個階層。其主要特色在於加強一般停走系統在前方車輛偵測的不足並且導入路口安全策略，除了可應用於行經大曲率的彎道或是轉彎等場景的跟車外，更可以在行經路口的時候，操控車輛安全且舒適的通過路口。 依目前的趨勢來說，在考量到成本、運算效能以及系統的設計複雜度上，車用電子領域將廣泛的應用數位訊號處理器。因此，我們以數位訊號處理器作為嵌入式控制器來實現合作式路口安全策略之市區巡航及停走系統。經過多次實際道路的測試，驗證本論文所發展之系統的確可以達到市區道路環境之需求。

Nowadays in the field of the Advanced Vehicle Control and Safety System (AVCSS) in Intelligent Transformation System (ITS), Stop-and-go is a well-developed technology. However, there exist some improvements, like the leading car tracking method, or maneuvers for more application scenarios, like the intersection. Therefore, the objective of this thesis is to design a vehicle assistance system for urban roads. The system not only contains Urban CC and modified Stop-and-go but also deals with the safety intersection maneuvers. In this thesis, we present the integration design and implementation of the cooperative urban cruise control and stop-and-go system which contains the intersection safety maneuver. The proposed system has a hierarchical structure consisted of a supervisory layer and a regulation layer. The main feature of this thesis is that the target tracking insufficiency on the curve road for the stop-and-go system is improved. In addition, the stop-and-go system is also applied on the intersection safety maneuver. Therefore, the system can assist the driver in passing the intersection whether the preceding cars or side cars exist. As the cost, performance and design complexity taken into account, the current trend is that digital signal processors (DSP) are widely used on automotive electronics industry. The cooperative urban cruise control and stop-and-go with intersection safety maneuver is implemented on a DSP as an embedded controller. Among practice on-road experimental tests, the system is verified to reach the requests of the application on urban roads.