自動導航公路系統ADVANCE-F導航車之機器駕駛模式概述

Introduction to the Driving Models of the ADVANCE-F Vehicles

本文扼要敘述自動導航公路系統ADVANCE-F計畫之車輛導向控制(即方向盤控制)及縱向控制(即速率控制)之模式。ADVANCE-F是一項智慧運輸系統，發展目的在改善台灣公路交通安全，提升交通品質及容量的擴充。首階段的工作，即發展計算機輔助駕駛系統，使車輛能不需手控駕駛卻可自動保持在既定的車道上而不致偏離，又會自主E!l車，達到半自動駕駛之境地。頻譜型線性二次控制模式即被用來設計此導向控制系統，以符合追蹤精準、穩健、及乘坐品質。其次介紹縱向控制模式並說明跟車之決策。目前之實驗係用「飛羚」在做公路場試，整體表現尚令人滿意。我們並發現車速愈高愈穩定，甚至比人駕駛還準確。另外，此系統能克服載重不均、方向盤有單向偏轉或吃輪現象、及偵測標線之光電感測器裝設偏差等事件。

This paper briejly introduces the lateral control αnd longitudinal analysis models in the project ADVANCE-F. ADVANCE-F aims at the development of advanced road vehicle control systems in order to enhance Taiwan traffic safety and increase capacity. At the first stage, an automatic steering system and azltonomous car following system are equipped. The basic control model for automaticsteering is of the frequency-shaped quadratic form. A systematic operation model is applied for the decision of car following. From the field test results, the lateral control model is found rather satisfactory in trajectory precision, robustness and stability. However, the car-following model is under revision for more realistic conditions.