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研究生： 黃志遠
Chih-yuan Huang
論文名稱： 以DSP實現自動停車之車位偵測與路徑追蹤控制
Parking Space Detection and Trajectory Tracking Control with DSP-Based for Auto-Parking
指導教授： 黃緒哲
Shiuh-Jer Huang
口試委員: 陳亮光
Liang-kuang Chen
顏木田
Mu-tian Yan
學位類別： 碩士
Master
系所名稱： 工程學院 - 機械工程系
Department of Mechanical Engineering
論文出版年： 2011
畢業學年度： 99
語文別： 中文
論文頁數： 98
中文關鍵詞： 自組織模糊控制(SOFC) 、PI 、最小迴轉半徑 、三角函數 、路徑規劃
外文關鍵詞： minimum turning radius
相關次數： 點閱：196  下載：7 
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    • 本文將使用嵌入式平台(DSP)建構一套自動停車系統，在文中將可分為三大部分，首先是利用距離感測器找出車輛與停車空間之相對位置，接著利用最小迴轉半徑做車輛之停車路徑規劃，以自組織模糊控制(SOFC)結合PI控制器達成停車過程之實際路徑追蹤，實現替代駕駛人之自動停車目的。
    研究中使用超音波感測器來偵測停車空間大小，利用兩個超音波量測出其車體與障礙物之間之距離，並透過三角幾何關係即可解析出車輛與環境中障礙物之位置。而停車路徑軌跡規劃，依照停車模式可分為路邊停車與倒車入庫兩部分，路邊停車之路徑利用最小迴轉半徑圓的合成曲線作為停車路徑之軌跡規劃，倒車入庫上則利用四分之一圓加上一條直線做為其停車之規劃路徑，文中將對三角函數路徑比較，驗證其所需之停車空間較小。

    In this thesis, the embedded platform (DSP) automatic parking control system is constructed. It can be divided into three parts. The first one is to construct the relative position map between the vehicle and parking space by using ultrasonic position sensor. Then the minimum turning radius parking path is planned for the vehicle moving path. Finally ,the combination of self-organizing fuzzy and PI controllers are designed to monitor and track the vehicle moving trajectory.

    Here, two ultrasonic sensors are employed to detect the parking space and measure the distant between the barrier and vehicle by triangle geometry. Then the available type can be divided into two categories: road side parallel parking (PP) and garage parking (GP). The PP parking path can be designed by the synthesis curve of two quarter circle minimum turning radius. The GP parking path can be planned by the combination of quarter circle and a straight line. The proposed parking path and the corresponding dynamic performance are compared with the triangular function parking path to obtain the smallest parking space requirement.

    摘要 I Abstract II 目錄 IV 圖目錄 VI 表目錄 IX 第一章 緒論 1 1.1 前言 1 1.2 文獻回顧 3 1.2.1 停車輔助安全系統 3 1.2.2 停車路徑規劃與追蹤控制 4 1.3 研究動機與目的 9 第二章 系統架構 10 2.1 模型車硬體架構 10 2.1.1 電源供應器 12 2.1.2 馬達驅動電路 12 2.1.3 直流馬達 13 2.2 DSP控制核心 15 2.2.1 PWM模組介面 17 2.2.2 QEP模組介面 17 2.2.3 SCI 模組介面 18 2.2.4 GPIO作IIC通訊之用 19 2.3 超音波感測器 20 2.3.1 感測器規格 20 2.3.2 超音波測距原理 22 2.3.3 通訊模式 23 2.3.4 超音波角度解析 26 第三章 系統理論分析 27 3.1 車輛動態模型分析 27 3.2 路邊停車軌跡規劃 31 3.3 倒車入庫軌跡規劃 37 第四章 控制理論與策略 39 4.1 模糊邏輯控制 39 4.1.1 概論 39 4.1.2 基本模糊控制架構 40 4.1.2.1 變數選擇與論域分割 41 4.1.2.2 模糊化 42 4.1.2.3 模糊控制規則 45 4.1.2.4 決定模糊控制規則之流程 45 4.1.2.5 解模糊化 49 4.2 自組織模糊控制理論 50 4.2.1 概論 50 4.2.2 自組織模糊控制策略 50 4.3 PI控制 57 4.4 SOFC與PI控制器之整合 59 4.5 控制策略流程 60 第五章 模擬與實驗結果 62 5.1 路徑對停車空間影響模擬之結果 63 5.1.1 實車轉向角模擬結果 63 5.1.2 模型車轉向角限制為 時之模擬結果 65 5.2 路邊停車實驗 67 5.2.1 遠距離路邊停車實驗 69 5.2.2 近距離路邊停車實驗 72 5.3 倒車入庫實驗 76 第六章 結論與未來展望 80 6.1 結論 80 6.2 未來展望 80 參考文獻 81 作者簡歷 85

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