| Summary: | 碩士 === 國立交通大學 === 電機與控制工程系所 === 96 === In this thesis, the designed intelligent driving system is implemented based on an embedded DSP platform (eZdspTM F2812) and the overall system has been equipped in our vehicle platform, TAIWAN iTS-1. The developed system integrates heterogeneous subsystems on-line such as a real-time vision system, an embedded controller, a vehicle-to-vehicle (V-V) communication system , in-vehicle sensors, the steering wheel (SW) motor and throttle, brake actuators to realize the autonomous driving system which can provide aids in steering and speed controlling to achieve the lane-keeping, lane-change and safety 2-dimension overtaking. The warning will be given if a potential collision occurs.
For lane-keeping control, the lane mark can be obtained by the vision system. As to lane-change control, a smooth trajectory can be designed based on a comfort-specified lateral jerk and converted to a reference SW command tracking to achieve an open-loop lane-change maneuver. As for safety overtaking control, the controller rotates the SW to overtake automatically according to the timing which is decided on the relative distance and velocity. If the distance is not safe, the velocity will be decreased for car-following to avoid collision. In order to imitate human driving behavior, a fuzzy gain scheduling strategy is designed into the controller to compensate the feedback controller by way of adapting to the SW command appropriately. The overall system has been examined on the expressway and urban-like roads.
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