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研究生:巫舜銘
研究生(外文):Shun-ming Wu
論文名稱:預估式翻覆指標:決策機制與實驗驗證
論文名稱(外文):Predictive Rollover Index:Decision Making and Experimental Verifications
指導教授:陳亮光陳亮光引用關係
指導教授(外文):Liang-kuang Chen
口試委員:陳亮光
口試委員(外文):Liang-kuang Chen
口試日期:2014-01-10
學位類別:碩士
校院名稱:國立臺灣科技大學
系所名稱:機械工程系
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2014
畢業學年度:102
語文別:中文
論文頁數:114
中文關鍵詞:道路標線偵測系統識別駕駛人模型預估式翻覆指標
外文關鍵詞:Lane DetectionSystem IdentificationDriver ModelPredictive Rollover Index
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偵測翻覆發生的翻覆指標,常可作為啟動翻覆預防控制器或警示所需的依據。由於翻覆偵測的目的在於預防,而近年來主動式安全系統發展的技術愈見成熟,本研究探討結合前方道路與駕駛人資訊在翻覆預測上所能提供的改善。藉由道路模型以及駕駛人資訊,預測未來可能發生的車輛偏航率以及前輪轉向角,再透過車輛動力學結合駕駛模型預估車輛未來的動態,再經由這些未來資訊應用於翻覆指標,從而建立預估式的翻覆指標,本研究並提出駕駛模型決策機制,由統計結果比較觀察駕駛模型與一般預測方法的功效,最後並於實驗上驗證結果。
The roll index to predict vehicle rollover is generally used to determine whether to issue a warning or intervention for rollover prevention. Since the purpose of the roll index is to prevent, and the vast progress in the road information detection technology, in this research the advantage of utilizing active safety systems. Using the assumed available road geometry model and the driver information, the possible vehicle yaw rate and front wheel steering angle is computed. Applying the computed signals to the vehicle model combined with driver model, the future vehicle dynamics is estimated on-line in discrete time instants. With the predicted vehicle dynamic states, the predictive roll indices are established. The study proposed model driving decision-making mechanism to observe and compare the effect of driving by the statistical results with the general prediction method, and verify the results on the experiment test.
摘要 I
Abstract II
目錄 III
圖目錄 VI
表目錄 IX
第一章 緒論 1
1.1研究背景與動機 1
1.2 文獻探討 5
1.2.1 車道標線偵測 5
1.2.2 駕駛人模型 6
1.2.3 駕駛人性能評估及監控 9
1.2.4 翻覆指標 9
1.3 文獻總結與工作項目 12
第二章 道路影像處理 14
2.1 道路影像前處理流程 14
2.2 道路標線偵測 19
2.2.1 設定初始掃瞄範圍 19
2.2.2 擷取道路標線 21
2.2.3 逆透視轉換 21
2.3 計算道路資訊 24
2.3.1 車道建模 24
2.3.2 道路資訊修正 26
2.3.3 計算道路資訊 28
第三章 駕駛人模型參數識別與決策機制 31
3.1車輛動力學模型 31
3.2 駕駛人線上參數識別 38
3.2.1 駕駛模擬器硬體架構 38
3.1.2 實驗規劃 39
3.3 駕駛模型參數識別 41
3.4 駕駛人模型驗證 44
3.5 結合駕駛人模型的車輛動態預估器 48
3.6 駕駛人模型參數的決策機制 52
3.6.1 決策機制使用的模糊規則庫 54
3.6.2 使用決策機制的駕駛模型預估器 59
第四章 結果分析與討論 70
4.1動態預估準確度比較 70
4.2預估式翻覆指標 77
4.2.1 三種預估方式的預估式翻覆指標計算 77
4.2.2 監控處理計算之預估式翻覆指標最大範圍 79
4.3 翻覆預估結果關聯度比較 81
4.3.1 翻覆指標關聯度比較 81
4.3.2 翻覆動態關聯度比較 84
4.4 實車實驗驗證 86
4.4.1 硬體設備 86
4.4.2 實車實驗規劃 88
4.4.3 車輛模型驗證 90
4.4.4 實車實驗結果 91
第五章 結論與未來展望 94
5.1 結論 94
5.2 未來展望 95
參考文獻 97
附錄A 量測設備詳細規格(VBOX、IMU及方向盤感測器) 102
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