自動停車系統之研製

The Development of an Auto Parking System

黃家祥(Jia-Siang Huang)

指導教授 ： 王建民

國立虎尾科技大學/工程學院/機械與機電工程研究所/碩士(2010年)

摘要

本文主要目的在於規劃平行停車之路徑軌跡並整合成一自動停車系統模組，透過模組化之方式提供一配置簡單以及輕型化之設計。在環境偵測方面，車輛的定位及停車位之相對空間位置，藉由超音波雷達與紅外線雷達進行環境參數之收集，並以此判斷並生成無碰撞之移動路徑。在本論文所進行的實驗中，透過一四輪模型車，配合嵌入式微處理器(ARM 9)核心以及感測器來進行測試。控制介面使用ADS 1.2(ARM Developer Suite v1.2)所撰寫，透過CAN Bus傳輸介面來傳送控制指令以及接收車體回傳之資料，藉此來控制車輛移動行進動力及轉向控制。最後達成控制直流馬達之速度以及伺服機之轉向等動作，證明所產生路徑為可行的。

關鍵字

路徑規劃 ； 平行停車 ； CAN Bus

並列摘要

This thesis proposes a path trajectory for an auto parking system that to provides a simple configuration and a lightweight design by a modelize manner. This article determined the current vehicle location and relative location of parking spaces with an ultrasonic radar module for data collection. It will produce a shortest parking route without any collision. In the experiment, a four–wheel model vehicle is implemented by a microcontroller (ARM9) and sensors. In order to control the motion of the vehicle, the control interface is used to transmit control commands and receive feedback data from the vehicle via CAN Bus which is edited by ADS 1.2 (ARM Developer Suite v1.2). Finally, it proves that a vehicle could be parked safely and correctly in the parking space.

並列關鍵字

Path Planning ； Parallel Parking ； CAN Bus

參考文獻

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