臺灣博碩士論文加值系統

本論文以建構一高爾夫球車線控系統(Drive-by-wire System)，並藉由開發決策系統，將控制邏輯數值化傳遞至底盤控制系統，完成於指定場域無人化自動駕駛車輛目標。
首先將傳統機械控制車輛轉向、電門、煞車和檔位，改由透過一車輛控制單元(Vehicle Control Unit, VCU)作為整車控制核心，並藉由控制器區域網路(Controller Area Network, CAN bus)將控制電子訊號傳遞至各線控模組以完成轉向、電門以及煞車的底盤控制。除此之外，利用機器人作業系統(Robot Operating System, ROS)進行上端決策系統開發，使用光學雷達以及慣性偵測單元(IMU)蒐集的環境資訊，完成同步定位與地圖構建(Simultaneous Localization and Mapping, SLAM)，搭配LIO-SAM達到路徑規劃與航點跟隨，且在行駛過程中透過車前搭載兩顆光學雷達進行障礙物偵測，以確保行駛過程中的安全性。最終於指定環境中建立地圖與設定終點，以航點跟隨模式使車輛移動至指定地點，藉由不同的控制方式進行性能分析與效益評估，完成線控系統的控制，達到無人化自動駕駛的目的。

The purpose of this thesis is to construct a drive-by-wire system for a golf cart and develop a decision-making system numerically transferring the control logics to the chassis control system so as to achieve the goal of unmanned self-drive in a designated field.
First, the traditional system of mechanical control over vehicle steering, throttle, brakes and gears is replaced by a proposed system using a vehicle control unit (VCU) as the vehicle control core transmitting the electronic control signals through the controller area network (CAN bus) to each drive-by-wire module to perform the chassis control of steering, throttle and brake. Second, the Robot Operating System (ROS) is used for the development of the upper-end decision making system served to collect the environmental information by the optical radar and the inertial detection unit (IMU) and complete the simultaneous localization and map construction (SLAM) with LIO-SAM so that the path planning and waypoint following can be achieved during the driving process. Finally, a map is created and a destination point is set in the specified environment so that the vehicle can be moved to the specified location using the waypoint following. In addition, the performance analysis and benefit evaluation for the control of the drive-by-wire system is carried out through different control methods. Thereby, the proposed goal of unmanned Self-drive in a designated field can be fulfilled.

摘要......i
Abstract......ii
誌謝......iii
目錄......iv
表目錄......vi
圖目錄......vii
第一章 緒論......1
1.1 前言......1
1.2 研究動機......2
1.3 研究目的......3
1.4 研究方法......4
1.5 文獻回顧......6
1.5.1自駕車未來趨勢發展......6
1.5.2線控驅動系統建立......7
1.5.3機器人作業平台......8
1.6 論文架構......9
第二章 高爾夫球車線控系統平台建置......10
2.1 高爾夫球車線控系統架構......10
2.2.1主從式同步串列通訊......13
2.2.2積體匯流排電路......14
2.2.3控制器區域網路......14
2.2 整車控制系統模組開發......17
2.3 轉向控制系統模組開發......18
2.4 電門控制系統模組開發......21
2.5 煞車控制系統模組開發......24
2.6 遠端遙控系統模組開發......27
第三章 高爾夫球車自動駕駛系統......28
3.1 自動駕駛硬體平台建置......28
3.2 機器人作業系統軟體平台(ROS)開發......29
3.3 同時定位與地圖構建(SLAM)......30
3.3.1 LOAM......31
3.3.2 LeGO-LOAM......31
3.3.3 LIO-SAM......32
3.4 自動駕駛整車決策分析......33
第四章 實驗結果與討論......35
4.1 高爾夫球車線控系統功能測試及驗證......35
4.4.1轉向模組功能性驗證......35
4.4.2電門模組功能性驗證......36
4.4.3煞車模組功能性驗證......38
4.4.4遠端遙控與線控系統整車驗證......38
4.2 底盤控制策略建立......40
4.2.1電門控制策略......40
4.2.2轉向控制策略......40
4.3 自動駕駛系統功能測試及驗證......42
第五章 結論與未來工作......45
5.1 結論......45
5.2 未來工作與建議......45
參考文獻......47
Extended Abstract......51

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