前撞警示系統之設計與分析

Design and Analysis of Forward Collision Warning System

余哲銘(Zhe-Ming Yu)

指導教授 ： 陳柏全

國立臺北科技大學/機電學院/車輛工程系所/碩士(2006年)

https://doi.org/10.6841/NTUT.2006.00307

摘要

分析近年的交通事故，主要發生原因為夜晚視線不佳、天候因素以及人為因素而導致車輛與前方障礙物碰撞，由前撞導致之財物損失及傷亡人數亦不在少數。為了防止事故之發生，本研究將進行前撞警示系統之設計與分析，利用架設於車前之雷射雷達進行前方車輛或障礙物偵測，以得到相對距離。將相對距離微分後，即可得到相對速度。接著將相對距離除以相對速度，即可得到本車與前方車輛或障礙物之碰撞時間（Time-to-Collision, TTC）。但由於直接微分得到之相對速度會放大感知器雜訊，使得TTC有大幅跳動之現象，本研究將設計一個卡爾曼濾波器估測相對速度，以降低雜訊之影響。最後將利用偵測距離以及TTC定義不同之警示層級，在有危險的行車狀況下，發布相關的警示訊號，以提昇車輛行駛時的安全性能，降低交通事故發生率與人員死傷數。

關鍵字

前撞警示 ； 雷射雷達 ； 碰撞時間 ； 卡爾曼濾波器

並列摘要

Analyzing the traffic accidents in the recently year, the vehicle bumped into obstacles was due to the bad vision, weather, and human factors, and results in many property loss and casualties. In order to prevent these results, a forward collision warning system is proposed in this paper. A laser radar is mounted in the front bumper of the vehicle to detect obstacles and obtain a relative distance between the vehicle and obstacle. The relative distance can further be differentiated for obtaining relative velocity. Thus relative distance divided by relative velocity can obtain Time-to-Collision (TTC). However, the effect of differential may enlarge the sensor noise, and results in incorrect TTC calculation. In order to solve this problem, a Kalman filter is proposed in this paper. It can be used to estimate relative velocity, and filter out the sensor noise. Finally, relative distance and TTC are used to define warning level for the forward collision warning system to issue warning. The system can decrease the happening of accident and the amount of casualty, and enhance the safety ability when driving.

並列關鍵字

Forward Collision Warning ； laser radar ； time-to-collision ； Kalman filter

參考文獻

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