臺灣博碩士論文加值系統

隨著汽車電子的興起，線傳控制（Steer-by-wire control）的發展，駕駛者對於車輛直接的控制得以被分離開來，透過電腦輔助駕駛者免去處於危險情況時多餘的駕駛行為，使得車輛在安全性上的追求大幅提昇至另一個層次。
本論文從工具機修正加工軌跡誤差的作法得到靈感，嘗試將其應用在車輛修正行車軌跡誤差上，首先提出『外插軌跡預測法』、『外插軌跡預測補償法』、『循圓軌跡預測法』三種車輛行走的軌跡預測法，演算正常行車軌跡，並與量測之行車資訊比較，當判斷車輛偏離正常軌跡時，展開自動修正，本論文提出『輪廓誤差補償模式』及『偏駛角誤差補償模式』兩種軌跡修正方法，透過這兩種方法的補償修正，使得車輛能回復到原本期望行駛的軌跡上。

圖目錄 I
表目錄 III
符號說明 IV
第一章 緒論 1
1.1前言 1
1.2文獻回顧 2
1.3研究動機與本文架構 3
第二章 車輛動態數學模型 5
2.1車體動態 5
2.2輪胎模型 8
2.3轉向模式 10
2.4車輛整體動態 12
第三章 軌跡預測與軌跡補償 14
3.1軌跡預測 14
3.1.1外插軌跡預測法 14
3.1.2外插軌跡預測誤差補償法 16
3.1.3循圓軌跡預測法 17
3.1.4軌跡預測模擬 21
3.2輪廓誤差的計算 31
3.3軌跡補償模式 33
3.3.1輪廓誤差補償模式 34
3.3.1偏駛角誤差補償模式 35
3.4軌跡補償模擬 36
第四章 實驗及討論 44
4.1實驗規劃 45
4.2實驗車之建構 49
4.3實驗 50
4.3.1直線速度測試 50
4.3.2差速轉向原理 54
4.3.3利用差速轉向進行圓軌跡實驗及討論 55
第五章 結論 61
參考文獻 62

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