遠端遙控車輛之人機協同巡航控制策略

Human-Machine Collaborative Cruise Control Strategy for Tele-Operated Vehicle

劉耿豪(Keng-Hao Liu)

指導教授 ： 李綱

國立臺灣大學/工學院/機械工程學研究所/碩士(2017年)

https://doi.org/10.6342/NTU201702648

摘要

本論文主要針對車輛遠端遙控駕駛之縱向運動控制進行研究，以期能克服通訊延遲對於遠端操作者在控制所造成的不良影響。本論文以車輛上的適應性巡航控制系統作為基礎，並將遠端駕駛者之控制命令納入系統迴路中，以此發展出一套人機協同的控制架構。此外，論文中以滑動模式控制之方法設計適應性巡航控制器，並分析其閉路穩定性以及串列穩定性。模擬結果則顯示本論文所提出之控制方法可應用於中低速多車跟隨、起步煞停，以及遠端遙控情境。

關鍵字

適應性巡航控制 ； 遠端遙控車輛 ； 縱向控制 ； 人機協同控制 ； 滑動模式控制

並列摘要

This research aims at improving longitudinal control of tele-operated vehicle under severe communication delay, which often causes remote operator to make wrong decision. Inspired from the adaptive cruise control (ACC) system equipped on commercial vehicles, a new cooperative control architecture in which the remote drivers’ command is involved is proposed. In additional, the ACC system is implemented using sliding mode control method and the closed-loop stability and string stability are also investigated. Simulation results show that the proposed controller performs well in many scenarios, including car following, stop-and-go and tele-operated driving.

並列關鍵字

Adaptive Cruise Control ； Tele-Operated Vehicle ； Longitudinal Control ； Human-Machine Collaborative Control ； Sliding Mode Control

參考文獻

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