處理跟車及變換車道之串接式模糊推論系統

The Car Following and Lane Changing Car Maneuver Collision Prevention System Based on the Cascaded Fuzzy Inference System

林宏達(Hung-Ta Lin)

指導教授 ： 馬杰

元智大學/工程學院/電機工程學系/碩士(2002年)

摘要

本文提出以串接式模糊推論系統為基礎之跟車及變換車道防撞控制器。變換車道組合跟車控制設計可以節省變換車道的時間。防撞控制系統使用展頻雷達偵測座車與前車或者鄰車道車輛之相對距離及相對速度。防撞控制器其輸出提供座車之加減速度值，係根據汽車的特性而設計。本文以Monte Carlo模擬來驗證我們所設計的跟車及變換車道防撞控制器可符合安全性、合理性和舒適性三大要求。其完成變換車道及達到安全跟車距離時所需要的時間約為16秒，平均變換車道時間約為3秒，這個平均時間很接近實際高速公路的行車狀況。

關鍵字

跟車 ； 變換車道

並列摘要

A new design of the collision prevention system based on cascaded fuzzy inference system (CFIS) for lane-changing maneuver and car-following is proposed. The lane-changing is combined with car-following to save the processing time of the lane-changing maneuver. The distance and speed of the host vehicle (HV) relative to the vehicles in front or on target adjacent lane are measured by the spread spectrum radars and applied to the collision prevention system. The collision prevention system provided the output acceleration or deceleration rate for the host vehicle is designed according to the characteristics of the vehicles. Monte Carlo simulations were conducted to demonstrate that collision prevention system for car-following and lane-changing can provide a safe, reasonable and comfortable driving. The required processing time to complete the lane changing and to achieve the safe distance between the HV and the leading vehicle (LV) on target adjacent lane is about 16 seconds. The mean required time for lane-changing maneuver is three seconds, which is very close to the road test results.

並列關鍵字

Car-following ； Lane-changing

參考文獻

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