自動駕駛載具控制研製

本研究主要設計暨改裝一部高爾夫球電動車，將其人為控制載具方式，改裝加入額外的機構及控制板，與智能控制器做通訊，實現可自動駕駛的載具，主要控制分三類，轉向系統控制、動力系統控制與剎車系統控制。載具本身的方向盤為傳統方向機，故轉向系統藉由在方向盤轉向機柱上安裝一齒輪盤，再利用伺服直流馬達帶動，藉以改變車身轉向角，動力系統方面，改用伺服馬達帶動可變電阻的形式作為控制，最後的煞車部分，與轉向系統一樣是利用額外安裝的蝸桿機構，用伺服直流馬達帶動此機構，來達到煞車的效果。在本研究控制完善後，有與其他具有先進駕駛輔助系統的智能控制器作整合，藉以達到具有基本的自走功能，整合的功能，包含車道維持系統、自動停車系統、簡易巡航控制追蹤系統、紅綠燈辨識系統。

關鍵字

自動駕駛載具；電動車控制；電動車改裝

並列摘要

The main purpose of this research is to modification of a golf electric vehicle. The man-made control vehicle mode is modified to add additional mechanisms and control boards, and communicate with the intelligent controller to realize the autonomous vehicle. The main control is divided into three categories, steering direction system control, power system control and brake system control. The steering wheel of the vehicle itself is a traditional steering machine. Therefore, the steering system is driven by a steering gear on the steering wheel steering column, and then driven by a servo DC motor to change the steering angle of the vehicle body. In terms of the power system, the servo motor is used to drive the variable. The form of the resistor is used as the control. The final brake part, like the steering system, uses an additional worm mechanism to drive the mechanism with a servo DC motor to achieve the brake effect. In this research, it is integrated with other intelligent controllers with advanced driver assistance systems to achieve basic self-propelled functions and integrated functions, including lane keeping system, automatic parking system, and simple ACC system. Traffic sign identification system.