本論文應用都卜勒效應於車與車之間通訊(V2V)，偵測可能與我們發生碰撞危險的車輛，運用都卜勒效應有快速得到對方車輛行為與訊息，且不需要視覺觀測。過去車輛在地導航目的地，是經由GPS來定位導航，收到當時的資訊已與實際情形有所差異，無法精確定位目標物位置，只能作為輔助功能，對於車輛本身安全，並沒有任何保障。而第五代行動通訊即將來臨，渴望克服許多問題，其中包含智慧控制系統和資料訊號時間延遲，將使精確定位技術進一步提升。如果車輛配備都卜勒雷達可預先評估與其他車輛碰撞情形，在發生碰撞前提出警訊給駕駛員，讓駕駛提前作出更明確安全的反應與決策。我們運用都卜勒雷達的原因是車輛之間能即時傳遞資訊，如:距離、相對速度、等…，所以本論文目的是在十字路口找出沒有剎車且將會與我們發生碰撞可能的車輛。

In this report, the Doppler Effect is applied to vehicle-to-vehicle (V2V) communication to identify the vehicle that may have the most dangerous impact on us by utilizing the results of Doppler effect to fast get other vehicles behavior and their sent messages without implementing any visual observations. In the past a vehicle navigates the location of its destination via GPS and at the time when we receive the information, sent from a moving object, to estimate the object’s location that would be different from the object actual location consequently we could not use GPS to precisely locate a moving object position but only to use it as an assistant apparatus to provide a secondary location information. Also the use of GPS could not provide and guarantee the safety of a vehicle. The emergence of fifth generation of mobile communications (5G) prompts people to eagerly exploit the new system to overcome many problems existing in the current communication systems such as the design of a wisdom control system and the data signal transmission time delay so as to enhance the positioning precision in current available positioning technology. If a vehicle is equipped with Doppler radar then it can assess in advance the possible collision situations incurred from other vehicles, and let the driver consider the situation to make proper decision. The reason to use the Doppler radar is that it enables, the information such as distance, relative speed and vehicle’s status etc. can be instantly transferred among vehicles. The main task of this report is to identify the vehicle at the crossroad that is still maintaining its speed without making de-acceleration that could possibly collide with us.

目錄

致謝	I
論文提要內容：	III
Abstract:	V
目錄	VII
圖目錄	IX
表目錄	XII
第一章	緒論	1
1.1	研究動機與目的	1
1.2	章節介紹	2
第二章	車與車之無線通訊模型	3
2.1	車與車之無線通訊模型	3
2.2	都卜勒效應	6
第三章	車輛間車道偏移碰撞理論	12
3.1	對向車行駛方向無偏離	13
3.2	對向車行駛方向偏離	16
3.3	對向車行駛方向偏離碰撞	19
3.4	車輛碰撞的判斷流程	22
第四章	十字路口碰撞情境之模擬	26
4.1	十字路口即時剎車之安全情境模擬	28
4.2	十字路口定速之碰撞情境模擬	34
第五章	模擬結果與探討	40
5.1	實驗結果	40
5.2	實驗探討	42
第六章	結論未來展望	45
參考文獻	50

 
圖目錄
圖 2.1.1	V2V概念圖[1]	3
圖 2.2.1	都卜勒效應之發射源S移動	7
圖 2.2.2	都卜勒效應之接收者O移動	8
圖 2.2.3	靜態都卜勒頻移關係	10
圖 2.2.4	動態都卜勒頻移關係	11
圖 3.1.1	對向車道車輛無偏離	14
圖 3.1.2	對向車道車輛無偏離之路徑圖	15
圖 3.1.3	對向車道車輛無偏離之Doppler Shift	15
圖 3.1.4	對向車道車輛無偏離之Doppler Shift斜率變異	16
圖 3.2.1	對向車道車輛方向偏離	17
圖 3.2.2	對向車道車輛偏離之路徑圖	18
圖 3.2.3	對向車道車輛偏離之Doppler Shift	18
圖 3.2.4	對向車道車輛偏離之Doppler Shift斜率變異	19
圖 3.3.1	對向車道車輛偏離撞擊	20
圖 3.3.2	對向車道車輛偏離撞擊之路徑圖	21
圖 3.3.3	對向車道車輛偏離撞擊之Doppler Shift	21
圖 3.3.4	對向車道車輛偏離撞擊之Doppler Shift斜率變異	22
圖 3.4.1	碰撞危險判斷流程1	23
圖 3.4.2	碰撞危險判斷流程2	24
圖 3.4.1	十字路口情境示意圖1 [25]	27
圖 3.4.2	十字路口情境示意圖2	27
圖 4.1.1	1秒後左邊來車Car 6剎車減速之路徑圖	29
圖 4.1.2	1秒後左邊來車Car 6剎車減速之Doppler Shift	30
圖 4.1.3	1秒後左邊來車Car 6剎車減速之Doppler Shift	30
圖 4.1.4	1秒利用碰撞危險判斷流程1的車輛	31
圖 4.1.5	1秒利用碰撞危險判斷流程2的車輛	31
圖 4.1.6	2.14秒後右邊來車Car 4剎車減速之路徑圖	32
圖 4.1.7	2.14秒後右邊來車Car 4剎車減速之Doppler Shift	32
圖 4.1.8	2.14秒利用碰撞危險判斷流程1的車輛	33
圖 4.1.9	2.14秒利用碰撞危險判斷流程2的車輛	33
圖 4.2.1	1秒後與左邊來車Car 6撞擊之路徑圖	35
圖 4.2.2	1秒後與左邊來車Car 6撞擊之Doppler Shift	35
圖 4.2.3	1秒後與左邊來車Car 6撞擊之Doppler Shift	36
圖 4.2.4	1秒內利用碰撞危險判斷流程1的車輛	36
圖 4.2.5	1秒內利用碰撞危險判斷流程2的車輛	37
圖 4.2.6	2.14秒後與右邊來車Car 4撞擊之路徑圖	37
圖 4.2.7	2.14秒後與右邊來車Car 4撞擊之Doppler Shift	38
圖 4.2.8	2.14秒內利用碰撞危險判斷流程1的車輛	38
圖 4.2.9	2.14秒內利用碰撞危險判斷流程2的車輛	39
圖 5.2.1	碰撞發生路徑圖1	42
圖 5.2.2 接收和發送角度變化圖1	43
圖 5.2.3	碰撞發生路徑圖2	43
圖 5.2.4	接收和發送角度變化圖2	44
圖 5.2.1	等三角關係	46
圖 5.2.2	β角度換算流程	47
圖 5.2.3	兩向量反推夾角	48
圖 5.2.4	多天線偵測	49
圖 5.2.5	雙天線偵測示意圖	49

 
表目錄
表 3.4.1 車道偏離結果表	22
表 4.1.1	即時剎車之安全情境模擬之車輛行駛行為	28
表 4.2.1	即時剎車之安全情境模擬之車輛行駛行為	34
表 5.1.1	十字路口安全情境模擬和碰撞情境模擬比較	40
表 5.1.2	碰撞時間點比較	41

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