本研究主旨為運用控制區域網路及次系統間之整合技術與方法來發展線傳電子節氣門系統與可變控制器，利用物件導向軟體模擬設計車輛適應性巡航控制系統，整合線傳電子節氣門與煞車控制，使受控車輛能保持安全之相對距離。
擷取電子加速踏板、電子節氣門實際訊號，運用系統識別方法，找出符合電子節氣門動態特性的數學模型，並可以隨著不同加速踏板開度，能對應輸出不同之控制器參數。車輛適應性巡航模糊邏輯控制器，依據安全距離計算公式，預測出車輛在跟車時應保持的安全距離，模擬控制電子節氣門開度與煞車壓力，調整車輛的行駛速度，使相對車速與距離能維持在預期安全範圍之內。
使用車輛動態模擬軟體CarSim模擬受控車在一般直線道路上不同行駛狀況，分析其各項性能數據是否達ISO-15622之規範要求。 研究以控制區域網路訊號連結系統及相關模擬程式，建立起硬體迴路之模擬實驗平台驗證電子節氣門動態響應，可修正模型與控制器參數，使設計完成的適應性巡航控制器能快速驗證及評估所達到之性能，將可縮短研發試誤及時辰。

This study is proposed to establish the integration technology and methodology through Controlled Area Network (CAN) by using proper Drive-By-Wire (DBW) control strategy and by using object-oriented program design controller parameters to develop a vehicle Adaptive Cruise Control (ACC) dynamic simulation system. The purpose of this study is to integrate electronic throttle control for DBW system and the active brake control to assure the ACC vehicle can maintain the safety relative distance and the required specifications.
This research used system identification method to build the electronic throttle model according to the electronic accelerator pedal of input driver command signal and electronic throttle position sensor output responses. Different controller parameters were calculated by optimization simulation tool for different accelerator pedal positions. ACC Fuzzy logic controller parameters were adjusted based on the safety distance formula, to control the electronic throttle and brake pressure output in order to adjust the vehicle speed, so that the vehicle relative distance can maintain in the expected safety margin.
This research used vehicle dynamic simulation software CarSim®, to simulated controlled ACC vehicle on different straight line drive conditions. This study evaluated and analyzed ACC vehicle performance and adjusted related parameters to conform international ISO-15622 standard. Finally the controlled area network signal is connectted with the simulation system to establish the hardware in the loop modeling platform. This simulation confirmed electronic throttle dynamic response, and revised the model and the controller parameters, enabled the compatible adaptive cruise controller can be design with faster and more reliable approach to achieve the required performance. This simulation tool thus can reduce the time and expanse of future ACC vehicle research and development.

博碩士論文暨電子檔案上網授權書 iii
中文摘要 iv
英文摘要 v
目錄 viii
圖目錄 xi
表目錄 xvii

第一章 緒論 1
1.1 前言 1
1.2 文獻回顧 2
1.2.1 線傳電子節氣門相關文獻 3
1.2.2 控制區域網路 6
1.2.3 硬體迴路相關文獻 7
1.2.4 適應性巡航系統相關文獻 11
1.3 研究動機 15
1.4 本文架構 15
第二章 研究方法 16
2.1 線傳電子節氣門系統 16
2.1.1 線傳電子節氣門模型之建立 16
2.1.2 線傳電子節氣門控制器設計 26
2.2 適應性巡航系統控制模擬 27
2.2.1 適應性巡航控制器設計 29
2.2.2 模糊邏輯歸屬函數設定 30
2.2.3 模糊邏輯規則庫建立 33
2.2.4 適應性巡航系統雷達模型 38
2.2.5 適應性巡航模型定速功能設計 40
2.2.6 適應性巡航模型結合CarSim車輛動態模型 41
第三章 線傳電子節氣門硬體迴路控制實驗 44
3.1 線傳電子節氣門硬體迴路模擬 44
3.2 線傳電子節氣門實驗架構 45
3.3 硬體迴路實驗設備 47
第四章 線傳電子節氣門模擬及實驗結果討論 50
4.1 模擬不同電子節氣門控制器比較 50
4.2 模擬節氣門開度響應與引擎轉速響應之關係 55
4.3 線傳電子節氣門模型與實際線傳電子節氣門驗證 60
4.4 實際不同電子節氣門控制器驗證比較 63
4.5 線傳電子節氣門控制器與實車ECU控制器比較 67
4.6 適應性巡航模型模擬測試 70
4.6.1 模糊邏輯跟車模組模擬測試 70
4.6.2 適應性巡航系統定速模組測試 75
4.6.3 適應性巡航系統模組測試 78
第五章 結論與建議 91
5.1 結論 91
5.2 建議與未來研究方向 93
參考文獻 95

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