本研究模擬自動緊急煞車(Automatic Emergency Braking，AEB)在不同摩擦路面上的作動行為，首先利用數學模型設計一個貼近現實的油壓模型以利於模擬時使用，而在車輛煞車部分分為了兩種不同的煞車控制方式，分別是以PI控制器對iBooster進行的減速度控制和透過模糊控制對電子液壓煞車單元做滑差控制也就是ABS控制，避免緊急煞車時瞬間產生過大的油壓導致輪胎鎖死，且根據兩者的煞車作動時間制訂自動緊急煞車策略進行模擬。為了使模擬更加貼近現實因此運用硬體模擬迴路之觀念，透過將實驗平台上量測出來的油壓訊號取代油壓數學模型，並傳輸到Carsim RT即時模擬軟體使虛擬車進行煞車並取得所需要的參數，如主車的車速、加速度及主車與目標車間距，並經由CAN-bus將控制器訊號輸出控制煞車作動元件產生相對應的煞車力，通過根據EURO NCAP所制定的測試規範。

The purpose of this study is to simulate the driving behavior of the vehicle with the automatic emergency braking (AEB) system under different road friction coefficients. In order to simulate the braking behavior, a mathematical model is used to simulate a realistic hydraulic dynamic. The AEB strategy is developed by two different control methods. One is the deceleration control by the iBooster with PI control. The other is the slip ratio control to control the electronic hydraulic braking unit with fuzzy logic to avoid the braking pressure rapidly increasing that caused wheels lock-up. In order to make the simulation closer to reality, the concept of hardware-in-the-loop simulation is used. The braking pressure mathematical model is replaced by the braking pressure signals measured by the braking pressure sensors on the experimental platform. The braking pressure signals are transmitted to the Carsim RT that is the real-time simulation software to generate the feedback signals, such as the speed and acceleration of the testing car and the distance between the testing vehicle and the EVT (Euro NCAP vehicle target). The controller outputs control command via CAN-bus to the electronic hydraulic braking actuator to generate the braking force and passes the test specifications established by EURO NCAP.

摘 要....i
ABSTRACT....ii
誌 謝....iv
目 錄....v
表目錄....viii
圖目錄....ix
第一章 緒論....1
1.1 研究背景與動機....1
1.2 文獻回顧....3
1.3 研究目的....4
第二章 自動緊急煞車系統....6
2.1 自動緊急煞車系統原理....6
2.2 法規....6
2.2.1 台灣法規....7
2.2.2 國外法規....11
2.2.2.1 歐盟AEB規定....11
2.2.2.2 美國AEB規定....13
2.2.2.3 中國大陸AEB規定....14
2.2.2.4日本AEB規定....16
2.3 AEB評分方式....19
2.4 AEB辨識系統....20
2.4.1 毫米波雷達....20
2.4.2 影像辨識模組....21
2.5 AEB作動器....22
第三章 AEB控制器設計....24
3.1自動緊急煞車策略....24
3.2最終煞車點....26
3.3 碰撞時間....28
3.4 減速度控制....29
3.5 ABS控制....29
3.5.1 模糊控制器理論....30
3.5.2 模糊控制器設計....32
3.6 油壓模型建構....38
3.7 AEB控制系統模擬結果....40
3.7.1 低速防撞系統之CCRs測試模擬....40
3.7.2 高速防撞系統之CCRs測試模擬....42
3.7.3 高速防撞系統之CCRm測試模擬....44
3.7.4 高速防撞系統之CCRb測試模擬....48
第四章 煞車系統元件與實驗架構....58
4.1 實驗架構....58
4.2 實驗儀器與設備....61
第五章 實驗結果....71
5.1 減速度控制實驗結果....71
5.2 低速防撞系統之CCRs實驗結果....74
5.3 高速防撞系統之CCRs實驗結果....78
5.4 高速防撞系統之CCRm實驗結果....80
5.5 高速防撞系統之CCRb實驗結果....84
第六章 結論....94
參考文獻....95
符號彙編....98

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