路邊自動停車之控制策略研究

Research of the control strategy for road-side auto-parking

楊振銘(Jen-Ming Yang)

指導教授 ： 黃顯川

健行科技大學/電資學院/電機工程所/碩士(2013年)

摘要

近年來隨著車輛數量日漸增加，在市區或是人口密度比較高的地方，想將車子安全地駛入狹小的停車格是一個很大的停車技術挑戰，這經常考驗著駕駛人的經驗、技術、判斷能力與注意力等等。對一個經驗不熟或是剛剛考取駕照的人來說，停車問題常常造成他們心中莫大的壓力。
為了輔助駕駛者能快速準確地的停車，本文探討如何應用各種感測器輔助進行自動路邊停車及倒車入庫的控制策略。我們利用車側邊的超音波感測器建立停車空間與車輛之相對距離以便進行停車軌跡與轉向角之規劃，再利用電子羅盤計算切入停車空間之角度，藉由車後端的超音波感測器監控倒車行進中車尾與停車格邊緣距離並配合電子羅盤進行角度修正，直到車子正確停於停車格內。
本文推演路邊停車及倒車入庫之安全條件並進行實作證明可行性。本文以長約為27公分、寬約為14公分之模型車子進行的路邊停車模擬，停車格之寬度設定為25公分、長度分別為55公分、50公分及45公分3種長度進行實作，相當於車長的2倍、1.8倍及1.6倍。另外，模擬倒車入庫停車格之寬度分別設定為40公分、35公分及30公分3種寬度停車格，相當於車寬的2.85倍、2.5倍及2.14倍。根據市區道路工程規範，一般小客車停車格與車子的比列約2:1，顯示模擬與實際現況比例極為相近。實作結果顯示路邊停車及倒車入庫均可順利完成。

關鍵字

路邊停車 ； 超音波感測器 ； 電子羅盤

並列摘要

Small parking space always afflicted and challenged the driver’s skill in the urban area since the number of vehicles increase gradually in recent years. Especially to the new drivers who did not possess sufficient experience, skill, judgment and concentration, it will cause a lot of pressure to them.
To assist the driver can fast and accurate to park the vehicle, this article will discuss the optimum strategy in regard to Road-side parking and backing storage automatically via the sensor application.
We try to use ultrasonic sensor which install on the side of the vehicle to detect the relative distance with adjacent vehicles or objects. It can create an optimal parking space to let us to process the research of the parking track and the angle of veer. After that, we adopt the electronic compass to calculate and find the optimal enter angle for the parking space. Finally, via the ultrasonic sensor which installed in the car tail and electronic compass, we can monitor the course and distance when back the car, until the vehicle accurate park in the parking space.

並列關鍵字

Road-side parking ； Ultrasonic sensor ； Electronic compass

參考文獻

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