臺灣博碩士論文加值系統

本研究利用適應性模型預估控制法AMPC (Adaptive Model Predictive Control)設計一個結合縱向與橫向控制的適應性駕駛人模型，並利用此模型描述真實駕駛人在過彎的行為。首先建立一組包含縱向與橫向的兩自由度車輛動力學模型，此模型為本研究之駕駛人模型的受控系統。駕駛人模型的控制輸出為前輪轉向角及縱向力。AMPC除了有預測及補償的功能，模型還能根據不同車速下車輛的動力學特徵進行操控，以描述駕駛人的適應性行為。實驗方面，在實車上裝設車輛動態感測器(v-box)、六軸慣量測量設備(Inertial Measurement Unit)、方向盤角度測量設備。利用這些感測器蒐集車輛動態的相關數據。接著利用所蒐集的車輛動態數據，其中包含行徑軌跡的座標，車頭轉向角等。經過統計分析(內差法)，建立起對照表格，進而建立一組道路資訊。最終利用實驗所蒐集的各項車輛動態數及本文所建立的各項道路資訊，進行實驗與模擬比對，進而驗證本研究之適應性駕駛人模型。

The adaptive model predictive control (AMPC) is employed in this research to
construct a driver longitudinal and lateral control model during a high
speed turning driving scenario. A vehicle model describing the vehicle
longitudinal and lateral dynamics is chosen and used as the plant under
control for the driver model. The outputs from the driver model consist of
the front steering angle and the longitudinal acceleration. The AMPC
compensates the vehicle dynamics by predicting the future output based on
the internal plant model. Furthermore, the variations in the plant model can
be updated in the AMPC algorithm and the control strategy can be adjusted
according to the updated plant model, thus emulating the human driver's
adaptation behavior. The model simulation results are compared with the
experimental data collected from a test vehicle with several subject human
drivers. The vehicle is equipped with the VBOX to measure its position via
GPS, an IMU to measure the motion variables, and an encoder to measure the
steering wheel angle. The road geometric information is also derived using
the recorded data from the VBOX. The comparison between the simulated and
experimental results indicate that the derived AMPC describes the human
control characteristics during turning with acceptable fidelity.

目錄
摘要 I
Abstract II
目錄 III
圖目錄 V
表目錄 VII
第1章 緒論 1
1.1 研究背景與動機 1
1.2 文獻探討 2
1.3 文獻結果討論 7
1.4 工作項目 7
第2章 車輛動力學 8
2.1 二自由度線性車輛動力學 8
2.2 加入縱向車速方程式與道路參考座標方程式 9
2.2.1 加入縱向車速方程式 9
2.2.2 道路座標方程式 10
2.3 結合縱向與橫向動力學的車輛模型 11
第3章 駕駛人模型設計 12
3.1 MPC理論基礎 12
3.2 駕駛人模型 13
3.2.1 適應性橫向駕駛人模型 14
3.2.2 結合縱向與橫向控制的適應性駕駛人模型 14
3.2.3 駕駛人模型的適應性行為 19
3.3 適應性駕駛人模型設計總結 20
第4章 硬體設備與架設 21
4.1 實際車輛測試平台 21
4.2 車輛動態參數感測器(RACELOGIC V-BOX & IMU (Inertial Measurement Unit)) 22
4.2.1 車輛動態參數感測器 V-BOX (velocity-box ) 22
4.2.2 六軸慣性感測裝置 IMU (Inertial Measurement Unit) 24
4.3 Micro Auto Box & 方向盤角度計(Steering angle sensor) 25
第5章 模擬與實驗結果討論 28
5.1 道路資訊建立 28
5.1.1 道路座標建立 28
5.1.2 道路方向角建立 30
5.1.3 道路的期望偏航角速率( )建立 31
5.2 實驗規劃 32
5.3 模擬與實驗結果 32
5.3.1 實驗與模擬比對 33
5.4 模擬與實驗比對結果討論 43
5.5 駕駛人模型適應性行為探討 44
5.5.1 有無車速更新之駕駛人模型 44
5.5.2 駕駛人模型之極端駕駛行為測試 46
第6章 結論與未來展望 49
6.1 結論 49
6.2 未來展望 50
附錄A 第二、三位駕駛60 km/h、40 km/h比對數據 51
附錄B 駕駛人的油門與煞車的命令 57
附錄C硬體設備規格表(V-BOX、IMU、Steering angle sensor) 58
參考文獻 60

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