臺灣博碩士論文加值系統

碰撞時間可以做為前方防撞警示系統設計的依據，先前的研究大多是用相對距離除以相對速度來計算碰撞時間，由於忽略相對加速度的影響，其估算上容易產生誤差。本論文考慮相對加速度的影響，提出兩個方法來進行碰撞時間之估測。第一個方法是利用遞迴最小平方法計算相對距離二次曲線的係數，並依此計算出相對距離為零的時間，也就是碰撞時間。第二個方法是利用卡爾曼濾波器預估相對距離、相對速度與相對加速度資訊，以運動學關係計算出預估的碰撞時間。經由模擬結果可得知本論文在相對加速度存在的情況下，相較於未考慮相對加速度影響的演算法，可以有較佳的預估準確性。前方防撞警示系統需能對車輛行經路徑的區域進行偵測，因此本論文中利用車速及偏航角速度計算出所感興趣的區域，再由此區域中選出合適的相對距離資料點，同時也加入跳動點修正策略，以避免因路面顛簸所造成的相對距離資料不連續性。在實車驗證時，本論文所提出的方法比傳統的方法有較佳的估測準確性。

In order to reduce traffic accidents, Time-to-collision (TTC) are often designed for Forward Collision Warning Systems (FCWS). In the previous studies, usually using relative distance divided by relative velocity to obtain the TTC. Because the result that didn’t consider relative acceleration is incorrect, therefore we propose two methods that using Recursive Least-Squares (RLS) and Kalman filter to determine TTC. In this paper, we proposed to use RLS and Kalman filter algorithms for improving TTC estimation. In RLS algorithm, we used the relative distance as the input item and then used RLS algorithm to get the parameters of a second-order kinematics’ equation based on constant acceleration assumption. In the other way, we used Kalman filter to calculate relative distance, relative velocity and relative acceleration, then used these information to determine TTC. Finally, by way of our simulations show that the proposed TTC is closer to ideal TTC. On the other hand, in order to detect target vehicle correctly in curve, we applied curve detection maneuver and relative distance decision function to obtain the distance to determine TTC.

摘　要 i
ABSTRACT ii
誌 謝 iii
目 錄 iv
表目錄 v
圖目錄 vi
第一章 緒論 1
1.1 研究背景與動機 1
1.2 文獻回顧 2
1.3 研究目的 3
1.4 論文架構 4
第二章 碰撞時間之估測 5
2.1 卡爾曼濾波器 5
2.2 遞迴最小平方法 7
2.3 彎道偵測策略 10
2.4 跳動點判斷策略 13
第三章 系統架構 16
3.1 實驗車 16
3.2 雷射掃瞄器 17
3.3 雙軸加速度感知器 18
3.4 偏航角速度感知器 19
3.5 資料擷取卡 20
3.6 雷射掃瞄器架設 21
3.7 車速訊號擷取 24
第四章 模擬及實驗結果 27
4.1 模擬結果 27
4.2 實驗結果 36
第五章 結論與未來展望 44
參考文獻 45

[1]張光仁，「日本ASV之發展現況」，車輛研測資訊，第四十三期，2004，第22-27頁。
[2]內政部統計處，「96年1-4月交通事故統計」，內政統計通報，九六年第二十五週。
[3]W. Ulke, R. Adomat, and K. Butscher, W. Lauer, "Radar Based Automotive Obstacle Detection System," SAE TECHNICAL PAPER SERIES, Michigan, February 28-March 1994, pp.41-53.
[4]X. Wang, J. Lins, C.Y. Chan, S. Johnston, K. Zhou, A. Steinfeld, M. Hanson, W.B. Zhang, "Development of Requirement Specifications for Transit Frontal Collision Warning System," California PATH Research Report, ISSN 1055-1425, 2003.
[5]Fukashi Sugasawa, Hiroshi Ueno, Masayuki Kaneda, Jun Koreishi, Ryouta Shirato, Hiroshige Fukuhara, "Development of NISSAN''S ASV," Intelligent Vehicles Symposium, Japan, 1996, pp.254-259.
[6]Tetsushi Mimuro, Yoshiki Miichi, Takahiro Maemura, Kazuya Hayafune, "Functions and Devices of Mitsubishi Active Safety ASV," Intelligent Vehicles Symposium, Japan, 1996, pp.248-253.
[7]Hiroyuki Kamiya, Yasuhiko Fujita, Takahiro Tsuruga, Yukinobu Nakamura, Shouhei Matsuda, Kouji Enomoto, "Intelligent Technologies of Honda ASV," Intelligent Vehicles Symposium, Japan, 1996, pp.236-241.
[8]Hirofumi Watanabe, Satoru Kondo, Kikuo Hirano, "Introduction to Suzuki ASV Technologies," Intelligent Vehicles Symposium, Japan, 1996, pp.219-223.
[9]K. Yi, M. Woo, S. H. Kim, S. C. Lee, "An Experimental Investigation of a CW/CA System for Automobiles Using Hardware-in-the-loop Simulations," American Control Conference, USA, 1999, pp.724-728.
[10]A. P. Wang, J. C. Cheng, P.L. Hsu, "Intelligent CAN-based Automotive Collision Avoidance Warning System, "IEEE International Conference on Networking, Sensing and Control 1, pp. 146-151, 2004.
[11]M. Hirano, "Development of Vehicle-following Distance Warning System for Trucks and Buses," Vehicle Navigation and Information Systems Conference, Canada, 1993, pp.513-516.
[12]E. Dagan, O. Mano, G.P. Stein, A. Shashua, "Forward Collision Warning with a Single Camera," Intelligent Vehicles Symposium, 2004, pp.37-42.
[13]J. Ekmark, J. Jansson, "Method and System for Forward Collision Avoidance in an Automotive Vehicle," United States Patent Application Publication, US2007/0112514A1, 2007.
[14]H. Araki, K. Yamada, Y. Hiroshima, T. Ito, "Development of rear-end collision avoidance system," Intelligent Vehicles Symposium, Japan, 1996, pp. 224-249.
[15]A.P. Bradley, "JPEG 2000 and Region of Interest Coding," Digital Image Computing Techniques and Applications, Australia, 2002.
[16]F. Ahmed-Zaid, G. H. Engelman, P. R. Haney, "Object Detection in Adaptive Cruise Control," United States Patent Application Publication, US 2003/0204298 Al, 2003.
[17]M. Nakamura, J. Bai, "Vehicle Control Method and Vehicle Warning Method," United States Patent Application Publication, US 6684149 B2, 2004.
[18]Y. Yamada, "Vehicle Accurately Detect an Object in a Lane of the Radar Equipped Vehicle Moving in a Curve," United States Patent, 5745070, 1998.
[19]Franklin, G F., Powell, J. D., and Workman, M., Digital Control of Dynamic System, MA:Addison-Wesley, 1998, pp. 389-391.
[20]A. Vahidi, A. Stefanopoulou, H. Peng, "Recursive Least Squares with Forgetting for Online Estimation of Vehicle Mass and Road Grade: Theory and Experiments, " Vehicle System Dynamics, pp. 31-55, 2005.
[21]R. Johansson, System Modeling Identification, NJ : Prentice Hall, 1993.
[22]K. J. Astrom and B. Wittenmark, Adaptive Control, Mass. : Addison-Wesley, 1994.
[23]P. Fancher, Z. Bareket, and R. Ervin, "Human-Centered Design of an Acc-With-Braking and Forward-Crash-Warning System," Vehicl System Dynamics, Vol 36, pp. 203-224, 2001.
[24]內政部營建署網站，「市區道路人行道設計手冊」，http://w3.cpami.gov.tw/district6/district7.htm，中華民國九十二年三月。
[25]曾惓賢，劉嘉福，李光偉，陳銘旭，「國內用路人跟車行為潛在風險性分析與前方防撞系統發展之關聯性」，九十三年道路交通安全與執法國際研討會，桃園縣，2004，第163-177頁。
[26]余哲銘，前撞警示系統之設計與方析，碩士論文，國立台北科技大學車輛工程學系研究所，台北，2006。
[27]P. Barber, N. Clarke, "Advanced Collision Warning Systems," IEE Colloquium, London, 1998, pp.2/1-2/9.