标题: 以DSP为基础之智慧泛用型适应性巡航控制系统设计
DSP-based Intelligent Full-speed-range Adaptive Cruise Control Design
作者: 颜嘉贤
Chia-Hsien Yen
吴炳飞
Bing-Fei Wu
电控工程研究所
关键字: 适应性巡航控制;车辆停走;模糊逻辑控制;嵌入式控制系统;智慧型车辆;智慧型传输系统;Adaptive cruise control;stop-and-go;fuzzy logic control;embedded control systems;intelligent vehicles;intelligent transportation systems
公开日期: 2006
摘要: 现今在智慧型运输系统中的先进车辆控制与安全系统里,适应性巡航控制系统已经是一项高度发展的技术。然而,传统的适应性巡航系统并不适用在车速低于40km/h以下的车况,如塞车或是市区驾驶等情形。因此,这篇论文的目标在于设计一套适用在所有车速范围的智慧型适应性巡航系统。

在这篇论文中,我们呈现了智慧泛用型适应性巡航系统的整合设计以及实现。此系统采用了阶层式的设计架构,其中包括了决策管理控制和速度调节控制。其主要的特色在于无论车辆是在何种车速范围,车辆将会依照使用者的预设车速行驶;若是有需要,车辆将会减速到和在同车道上的前车保持一定的安全距离。最极端的情形就是当前车停下时,嵌置有此套系统的车辆也要做到停止且再起步的操作

依目前的趋势来说,在考量到成本、运算效能以及系统的设计复杂度上,数位讯号处理器将会广泛地应用在车用电子产业。因此,我们使用了数位讯号处理器作为嵌入式控制器,并取代车用电脑来实现智慧泛用型适应性巡航系统。经过多次在实际道路上的测试,其结果验证了数位讯号处理器的确可以取代在车用电脑上的行车控制器,并且达到系统的正确性。
Adaptive Cruise Control (ACC) nowadays is a well-developed technology in the field of the Advanced Vehicle Control and Safety System (AVCSS) in Intelligent Transportation Systems (ITS). However, one limitation of conventional ACC systems is that they do not manage speeds under 40 km/h and, as a result, are not useful in traffic jams or urban driving situation. Therefore, the target of this thesis is to design an intelligent ACC system of a full-speed-range longitudinal motion control.
In this thesis, we present the integration design and implementation of an intelligent full-speed-range ACC (IF-ACC) system. The proposed system has a hierarchical structure composed and consists of a supervisory control and a regulation control. The main feature of this thesis is that there is adaptation to a user-preset speed and, if necessary, speed reduction to keep a safe distance from the vehicle in the same lane, whatever the speed. The extreme case is the stop and go operation in which the lead car stops and the vehicle embedded this system must also do so.
As the cost, performance and design complexity taken into account, the current trend is that digital signal processors (DSP) are widely applied on Automotive Electronics industry. Therefore, instead of car computer, the IF-ACC system is implemented on a DSP as an embedded controller. Among on-road experimental tests, we verify our control rules on car computer can be implemented on a DSP, and the system validness is exhibited.
URI: http://140.113.39.130/cdrfb3/record/nctu/#GT009412570
http://hdl.handle.net/11536/80704
显示于类别:Thesis