車輛路徑導引控制法則之設計

Abstract

在本篇論文中，利用路側單元找尋車輛的坐標位置，並建構出一套車輛路徑導引控制法則。由於在本研究中車輛是無人駕駛的電動自走車，因此車輛的移動會由其車用網路之主控制節點來決定。而路側單元會以成對的方式依序放置於道路兩側，並形成一條具有偵測能力的路徑。 路徑資訊會在車輛出現前，由路側單元蒐集距離資訊給予車輛，並建立地圖坐標系統。透過路徑資訊，車輛主控制節點會分析當前位置是位於路徑上的哪個區段，並依據目標位置資訊進行移動方向的決策。最後，主控制節點會依據決策結果執行移動指令，並抵達目標位置。 本論文內容利用模擬軟體來驗證車輛路徑導引控制法則，而模擬的結果與預期相符，車輛行駛於路徑中時，能依據設置的目標位置進行移動，達成本系統導引功能的目標。

In this thesis, we have developed a guidance control laws for electric vehicles. Since the electric vehicle is a driverless car for this study, the control of vehicle is determined through the master control node of automotive network. The roadside nodes are placed sequentially in pairs on both sides of the road, so the road is a path with detection capabilities. Therefore, each two roadside node divides the road into many segments. The roadside nodes build a coordinate system of the path before the vehicle enters. The master control node analyzes the current position in the segment located on the path through information and determines the direction of movement depend on the target. Finally, the master control node executes the instruction based on the results of the decision-making to arrive at the target. This thesis tests guidance control laws by the simulated tool. The simulation results are found to match expectations. According to guidance control laws, the electric vehicle can arrive at the setting target, and achieve our goals of guidance control.