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    ASIA unversity > 資訊學院 > 會議論文 >  Item 310904400/5790

    Please use this identifier to cite or link to this item: http://asiair.asia.edu.tw/ir/handle/310904400/5790

    Title: DSP Implementation of RTK-DGPS Based Automatic Driving Systems
    Other Titles: 以DSP平台實現RTK-DGPS為基礎之自動駕駛系統
    Authors: 連政南;李祖添;吳炳飛;蔣欣翰;吳依庭;彭昭暐
    Contributors: 交通大學電機與控制工程學系;台北科技大學電機工程學系
    Keywords: 智慧型運輸系統;自動駕駛;模糊邏輯控制;全球衛星定位系統;ITS;Automatic Driving;Fuzzy Logic Control;RTK-DGPS
    Date: 2007-12-20
    Issue Date: 2009-12-15
    Publisher: 亞洲大學資訊學院;中華電腦學會
    Abstract: 在先進車輛控制及安全系統 (AVCSS)相關領域中,自動駕駛已經是主要的發展趨勢。在這篇論文中,我們整合即時動態差分全球衛星定位系統(Real-Time Kinematic Differential Global Positioning System,RTK-DGPS)與雷射測距儀(Laser Range Finder)於智慧車上來實現一個即時的自動駕駛系統。模糊邏輯演算法乃按照人類的行為模式提供一個參考的方向盤轉角和車速。而在安全方面,於車頭安裝雷射測距儀偵測前方障礙物,透過速度管理器(Supervisory Controller)所計算出來的安全速度達到安全的自動駕駛。整套系統以C6713 DSK發展板為平台,安裝在實驗車TAIWAN iTS-1上作測試,實驗的結果展現良好的自動駕駛性能,而且與人為開車的駕駛習慣相似。Automatic driving has been a main trend in the field of advanced vehicle control and safety system (AVCSS). In this paper, we design and implement a real-time automatic driving system for intelligent vehicles by integrating a real-time kinematics differential global positioning system (RTK-DGPS) and a laser range finder. A fuzzy logic algorithm for target position of the steering wheel and speed decision rules are proposed to achieve the human driving concept. For the safety, the head of the vehicle is equipped with a laser range finder to detect obstacles in the front, though the safe speed calculated by supervisory controller to make a safe automatic driving. In addition, the C6713 DSK is served as a platform in the present study to implement an embedded system for this system. It is tested in the experiment car, TAIWAN iTS-1. The experimental results show that the combination of RTK-DGPS and artificial-intelligence-based techniques has a good performance in automatic driving, and the resulted steering maneuvering is very similar to human driving.
    Relation: 2007NCS全國計算機會議 12-20~21
    Appears in Collections:[資訊學院] 會議論文

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