(34.236.244.39) 您好!臺灣時間:2021/03/09 19:15
字體大小: 字級放大   字級縮小   預設字形  
回查詢結果

詳目顯示:::

我願授權國圖
: 
twitterline
研究生:詹益宗
研究生(外文):Zong-yi Chan
論文名稱:群體車輛自主安全駕駛行為模擬
論文名稱(外文):Autonomous safety group behavior of vehicle simulation
指導教授:江清水江清水引用關係
指導教授(外文):Ching-shoei Chiang
學位類別:碩士
校院名稱:東吳大學
系所名稱:資訊管理學系
學門:電算機學門
學類:電算機一般學類
論文種類:學術論文
論文出版年:2011
畢業學年度:99
語文別:中文
論文頁數:43
中文關鍵詞:自動駕駛自主車群體車輛模擬
外文關鍵詞:Automatic DrivingAutonomous vehiclesGroups of vehicle simulation
相關次數:
  • 被引用被引用:0
  • 點閱點閱:218
  • 評分評分:系統版面圖檔系統版面圖檔系統版面圖檔系統版面圖檔系統版面圖檔
  • 下載下載:0
  • 收藏至我的研究室書目清單書目收藏:0
汽車自動化駕駛已經是未來的趨勢,近年來,經由世界各國及產、經、學界的努力,在自動駕駛領域上投入大量資源已逐漸看到成果,加上全球定位系統(Global Positioning System)等技術的成熟,使得自動化駕駛更具未來性。
過去自動化駕駛的研究著重在避免碰撞及最佳路徑規劃上,對於車隊中其他車輛互動較少群體式移動的研究,車輛群體移動可應用在遊覽車的群體移動、家族式旅遊及災難物資運送車輛等方面。
本研究之目的在於模擬車輛全自動化駕駛,著眼於車輛移動過程中做有效的安全決策避免碰撞,此外,我們修改生物群體式移動行為演算法,讓群體車輛能自動加入車隊呈現群體式移動,並且不會因群體移動導致塞車的現象。
With enormous help and funding from the governments, industries and institutes around the world, autopilot has become more mature, and soon it will become the future. It can be foreseen that autopilot can be more realistic with the advance techniques, such as Global Positioning System (GPS).
Previous researches on autopilot focused on anti-collision and best driving path search, they had few studies on grouped autopilot system. This grouped system can be applied to tourist coaches, family tour, or transporting of aids.
This paper aimed to simulate the full unmanned autopilot system, focus on the autonomous safety decision of vehicles behavior. Moreover, we modify the flock algorithm of animal behavior, to attract the group vehicles together without block the others.
致謝 i
摘要 ii
Abstract iii
目錄 iv
表目錄 vi
圖目錄 vii
1. 緒論 1
1.1. 研究動機 1
1.2. 研究目的 2
1.3. 論文架構 2
2. 背景知識與文獻探討 4
2.1. 車輛自動化駕駛研究 4
2.2. 生物群體自主行為模擬 5
3. 研究方法 8
3.1. 模型假設 8
3.2. 符號、定義及定理 9
3.3. 安全距離 11
3.4. 模擬系統策略 12
3.4.1. 演算法 12
3.4.2. 安全加速步驟 13
3.4.3. 安全變換車道步驟 15
3.4.4. 安全煞車步驟 17
3.4.5. 群體車輛移動策略 18
3.4.6. 車輛自主行為運算流程 20
3.5. 道路追隨虛擬力(Path Following) 21
3.6. 開發工具Processing 22
4. 實驗結果 24
5. 結論及未來展望 29
參考文獻 30
附錄 33
A.實驗數據 33
B.車輛行駛情境 42
[1]內政部警政署98年道路交通事故原因、傷亡及車輛損壞統計資料, http://www.npa.gov.tw/NPAGip/wSite/mp, 2011/03/21
[2]崔曉藝,王先梅,鐘延炯和董平, “虛擬自主車智能駕駛行為的研究與實現” 計算機工程與應用, 2010 年第46卷第21期, pp. 223-226.
[3]趙偉銘, 李蔡彥, “具溝通機制及客製化事件的人群模擬,” Proceeding of 2007 Computer Graphics Workshop (CG2007), Taiwan, 2007.
[4]趙偉銘, 李蔡彥, “以社會傳播模型模擬人群之集體社會行為,” Proceeding of 2008 Computer Graphics Workshop, Taiwan, 2008.
[5]高速公路及快速公路交通管制規則, http://www.freeway.gov.tw/Publish.aspx?cnid=526&p=134, 2011/04/01
[6]Google tests cars, http://www.bbc.co.uk/news/technology-11508351, 2011/02/10
[7]Passat Junior, http://www.volkswagenag.com/vwag/vwcorp/content/en/innovation/ research_vehicles/junior.html, 2011/04/28
[8]Touareg Stanley, http://www.volkswagenag.com/vwag/vwcorp/content/en/innovation/ research_vehicles/stanley.html, 2011/04/28
[9]C. W. Reynolds “Flocks, herds and schools: A distributed behavioral model,” Proc. of the 14th annual conference on Computer graphics and interactive techniques, ACM Press, pp. 25–34, 1987.
[10]M. Imran Akram, Ahmed Pasha, and Nabeel Iqbal, “Optimal Path Planner for Autonomous Vehicles, ” World Academy of Science, Engineering and Technology 3 2005.
[11]D. Knowles, “Real time continuous curvature path planner for an autonomous vehicle in an urban environment,” California Institute of Technology, Tech. Rep.,September 2006. 1.
[12]Chang, T., Hong, T., Legowik, S., Abrams, M.N.“Concealment and Obstacle Detection for Autonomous Driving,” Proceedings of the Robotics & Applications 1999 Conference, Santa Barbara, CA, October 28-30,1999.
[13]Aufrere, R., Gowdy, J., Mertz, C., Thorpe, C., Wang, C.C., Yata, T., “Perception for Collision Avoidance and Autonomous Driving”, Mechatronics, Vol. 13, No. 10, pp.1149-1161, 2003.
[14]H. Wang, J. Kearney, J. Cremer and P. Willemsen, “Steering Behaviors for Autonomous Vehicles in Virtual Environments,” in IEEE Virtual Reality Conference, March 2005, pp.155-162.
[15]H. Wang, J. Kearney, J. Cremer and P. Willemsen, “Steering Autonomous Driving Agents through Intersections in Virtual Urban Environments,” in Proceedings of International Conference on Modeling, Simulation and Visualization Methods, Las Vegas, Nevada, June 2004, pp.10-16.
[16]U. Franke, D. M. Gavrila, S. Görzig, F. Lindner, F. Paetzold and C.Wöhler, “Autonomous Driving Approaches Downtown”, IEEE Intelligent Systems, vol.13, nr.6, 1998, pp. 40-48.
[17]Kang Peifeng, Huang Kang, Yang Yang, Zhong Yanjiong and Wei Lili, “Modeling and implementation on the behavior of autonomous vehicle in the virtual traffic environment,” in Vehicular Electronics and Safety, 2007. ICVES. IEEE International Conference on, Dec. 2007, pp.
[18]S. Kolski, D. Ferguson, M. Bellino and R. Siegwart. “Autonomous Driving in Structured and Unstructured Environments,” IEEE Intelligent Vehicles Symposium, 2006.
[19]Sugiyama et al., Traffic jams without bottlenecks—experimental evidence for the physical mechanism of the formation of a jam, New J. Phys. 10(2008) 033001.
[20]Craig W. Reynolds, “Boids–Background and Update”, http:/www.red3d.com/cwr/boids
[21]I. D. Couzin, J. Krause, R. James, G. D. Ruxton, and N. R. Franks, “Collective memory and spatial sorting in animal groups", Journal of Theoretical Biology, 2002, 218: 1-11.
[22]C. W. Reynolds, “Steering behaviors for autonomous characters,” Proc. of Game Developers Conference, 1999.
[23]Craig W. Reynolds, “Steering Behaviors For Autonomous Characters”, http://www.red3d.com/cwr/steer/, 2011/03/01
[24]D. Helbing and P. Molnar, “Social Force Model for Pedestrian Dynamics,” Physical Review, pp.4282-4286, 1995.
[25]D. Helbing, I. Farkas and T. Vicsek, “Simulating Dynamical Features of Escape Panic, ” Nature, 407(28):487-490, 2000.
[26]X. Tu, and D. Terzopoulos, “Artificial Fishes: Physics, Locomotion, Perception, Behavior,” Proc. of SIGGRAPH, 1994.
[27]Artificial Fishes , http://www.swarmagents.cn/complex/bottomup/afish.htm, 2011/03 /01
[28]Vehicle Road Test Report, http://www.aaa.asn.au/roadtests/viewReport.asp, 2011/04/21
[29]Two-Second rule, wikipedia. http://en.wikipedia.org/wiki/Two-second_rule, 2011/06/ 01
[30]Processing, http://processing.org/, 2011/01/15
QRCODE
 
 
 
 
 
                                                                                                                                                                                                                                                                                                                                                                                                               
第一頁 上一頁 下一頁 最後一頁 top
系統版面圖檔 系統版面圖檔