本論文旨在應用模糊控制晶片實現自動路邊停車之自動化，同時具有判斷車位大小是否容許停車，其中並探討如何利用模糊邏輯去設計與研製具智慧型路邊停車之控制晶片。根據駕駛專家經驗，設計模糊路邊停車控制法則，以操控車子達成路邊停車自動化的目標。本論文以硬體描述語言進行硬體架構之設計，並對各硬體單元做介紹與說明，包括FPGA晶片、快閃記憶體單元、直流伺服馬達單元、紅外線感測器、ADC單元、超音波感測器。感測器所量測的數據是決定轉彎角度與前進距離的依據，其控制法則則是以模糊邏輯為基礎來進行控制。利用Matlab進行模擬測試路邊停車系統之機制，其中依各種車種之實際大小來進行模擬。最後以硬體描述語言(Verilog)來進行模組化的硬體電路設計，並對各模組與模組整合做模擬驗證。

This thesis is to design and implement the fuzzy control chip for realizing automatic Parallel-Parking motion, with judging capability to detect the size of the parking space. According to experiences of the expert, this thesis proposes the fuzzy parallel-parking control schema to parking a car at roadside. The system architecture of the parallel-parking system is described in the first part f this thesis, the hardware unit of the intelligent parking system includes FPGA chip, flash memory, DC servo motor unit, infrared sensor, A/D unit, ultrasonic sensor unit and so on. The input data of the fuzzy controller are obtained from the sensor for controlling the steering angle and motioning action. In addition, the simulating result of parallel-parking route is simulated by Matlab. This study tests various simulating cars regarding various actual size of cars. Then, the schema of the parallel-parking system motion is realized by hardware description language. All modules of the intelligent parking control system are tested and verified.

目錄

中文摘要…………………………………………………………………….Ⅰ
英文摘要…………………………………………………………………….Ⅱ
誌謝………………………………………………………………………….Ⅲ
目錄……………………………………………………………………..….. Ⅳ
圖索引……………………………………………………………………... .Ⅷ
表索引……………………………………………………………………..XⅢ

第一章 緒論………………………………………………………………….1
1.1 研究背景……………………………………………………..…1
1.2研究動機與目的………………………………………………...2
       1.3 研究步驟與方法………………………………………………..3
1.4 論文內容組織…………………………………………………..3
第二章 路邊停車晶片系統架構……………………….................................5
 2.1 前言…………………………………………………………….5
   2.2 系統架構概觀…………………………………………………..5
   2.3 可程式化系統晶片……………………………………………..7
       2.4 感測系統………………………………………………………10
           2.4.1 紅外線感測器簡介及工作原理……………………….11
           2.4.2 超音波感測器簡介及工作原理……………………….18
       2.5 馬達系統………………………………………………………22
       2.6 電壓調整器……………………………………………………23
第三章 系統分析與控制器設計…………………………………………..25
       3.1 前言 …………………………………………………………..25
       3.2 車動態系統分析………………………………………………26
       3.3 模糊控制系統…………………………………………………28
           3.3.1 模糊化機構…………………………………………….29
           3.3.2 模糊化規則庫………………………………………….30
           3.3.3 模糊推論引擎………………………………………….31
           3.3.4 解模糊化機構………………………………………….33
第四章 路邊停車系統模糊控制器之設計………………………………..35
           4.1 路邊停車動作步驟分析…………………………………35
           4.2 車位大小偵測……………………………………………37
           4.3 路邊停車系統控制器之設計……………………………38
           4.4 路邊停車系統控制器之模擬測試………………………42
           4.5 結果討論…………………………………………………55
第五章 數位電路設計……………………………………………………..56
       5.1 前言……………………………………………………………56
       5.2 可程式邏輯元件之發展………………………………………56
       5.3 電路設計之流程……………………………………………….58
5.4 可程式化系統晶片(SOPC)設計………………………………63
     5.4.1 SOPC特色與架構..…………………………………….64
     5.4.2系統發展環境…………………………………………..64
第六章 晶片設計實現與功能驗證………………………………………...67
       6.1 前言……………………………………………………………67
       6.2 晶片硬體電路設計與模擬結果………………………………67
           6.2.1 偵測車庫模組………………………………………….68
           6.2.2 路邊停車模糊控制模組……………………………….69
           6.2.3 PWM模組………………………………………………79
           6.2.4 紅外線模組…………………………………………….81
           6.2.5 超音波模組…………………………………………….83
       6.3 晶片整合模擬結果 …………………………………………..85
       6.4 結果討論………………………………………………………87
第七章 結論與未來展望…………………………………………………..89
       7.1 結論……………………………………………………………89
       7.2 未來研究方向…………………………………………………89
參考文獻…………………………………………………………………….91

圖索引

圖2.1 路邊停車系統架構……………………………………………………7
圖2.2 快閃記憶體方塊圖……………………………………………………9
圖2.3 UART架構圖………………………………………………………...10
圖2.4 路邊停車動態………………………………………………………..11
圖2.5 感測器裝置位置……………………………………………………..11
圖2.6 Sharp GP2D12 距離感測器…………………………………………12
圖2.7 Sharp GP2D12 距離感測器大小規格………………………………12
圖2.8 Sharp GP2D12 距離感測器工作曲線………………………………13
圖2.9 ADC0804外觀及接線圖…………………………………………….15
圖2.10 ADC0804控制時序圖(1)…………………………………………...17
圖2.11 ADC0804控制時序圖(2)…………………………………………..18
圖2.12 POLAROID 6500 超音波感測器………………………………….19
圖2.13 POLAROID 6500 超音波感測器測具模組……………………….19
圖2.14 超音波測距模組內部電路…………………………………………20
圖2.15 單頭反射型…………………………………………………………21
圖2.16 Typical Beam Pattern at 50kHz……………………………………..22
圖2.17 42.5%責任週期…………………………………………………….23
圖2.18 7805電壓調整器電路接線圖……………………………………..23
圖2.19 LM317電壓調整器電路接線圖……………………………………24
圖3.1 車子行徑動態…………………………………………………….....26
圖3.2 模糊化系統基本架構圖…………………………………………….29
圖3.3 模糊推論 Simplified Fuzzy Singleton 法運算流程……………….33
圖4.1 路邊停車動作步驟流程圖………………………………………….36
圖4.2 路邊停車標準示意圖……………………………………………….37
圖4.3 車身與車位距離定義……………………………………………….39
圖4.4 輸入變數d_1r歸屬函數……………………………………………41
圖4.5 輸入變數d_2r歸屬函數.……………………………………………41
圖4.6 輸出變數 歸屬函數………….……………………………………..41
圖4.7 車位大小偵測1………….…….…………………………………….44
圖4.8 車位大小偵測模擬結果數據1..…………………………………….44
圖4.9 車位大小偵測2..…………………………………………………….45
圖4.10 車位大小偵測模擬結果數據2.……………………………………45
圖4.11 自動路邊停車模擬結果……………………………………………47
圖4.12 自動路邊停車模擬結果數據………………………………………47
圖4.13 自動路邊停車模擬結果……………………………………………48
圖4.14 自動路邊停車模擬結果數據………………………………………48
圖4.15 自動路邊停車模擬結果……………………………………………49
圖4.16 自動路邊停車模擬結果數據………………………………………49
圖4.17 小型車自動路邊停車模擬結果……………………………………50
圖4.18 小型車自動路邊停車模擬結果數據………………………………50
圖4.19 大型車自動路邊停車模擬結果……………………………………51
圖4.20 大型車自動路邊停車模擬結果數據………………………………51
圖4.21 兩輛車大小車位之自動路邊停車模擬結果1…………………….53
圖4.22 兩輛車大小車位之自動路邊停車模擬結果數據1……………….53
圖4.23 兩輛車大小車位之自動路邊停車模擬結果2…………………….54
圖4.24 兩輛車大小車位之自動路邊停車模擬結果數據2……………….54
圖5.1 邏輯晶片分類…………………………………………………….….58
圖5.2 電路設計流程圖……………………………………………….…….59
圖5.3 Nios 系統發展平台……………………………………………...….66
圖6.1 路邊停車系統硬體架構………………………………….………….68
圖6.2 車庫大小偵測模組之BDF示意圖………………………………….69
圖6.3 車庫大小偵測模組模擬結果………………………………………..69
圖6.4 路邊停車模糊控制模組………………………………………..……70
圖6.5 d1、d2歸屬度…………………………………………………….….72
圖6.6 模糊化模組之BDF示意圖………………………………..……..…72
圖6.7 模糊化結果……………………………………………………….….73
圗6.8 模糊推論決策之BDF示意圖………………………………..…..…75
圗6.9 模糊推論決策模擬結果……………………………………………..75
圗6.10解模糊化模組之BDF示意圖……………………………………...76
圗6.11 解模糊化模組模擬結果……………………………………..……..77
圗6.12 路邊停車模糊控制模組之BDF示意圖………………………..…78
圗6.13 路邊停車模糊控制模組之模擬結果………………………………78
圖6.14 PWM脈波寬度調變器電路設計方塊圖……………………….…79
圖6.15 PWM產生器模擬結果……………………………………...……..80
圗6.16 PWM模組之BDF示意圖……………………………….…………81
圗6.17 PWM模組模擬結果…………………………………………….….81
圖6.18 ADC的控制驅動模擬結果…………………………………………82
圗6.19 紅外線模組之BDF示意圖………………………………………..83
圗6.20 紅外線模組模擬結果………………………………………………84
圗6.21 超音波模組之BDF示意圖………………………………………..84
圗6.22 超音波模組模擬結果………………………………………………84
圗6.23 路邊停車系統模組之BDF示意圖………………………………..87
圗6.24 路邊停車系統模組模擬結果………………………………………87


表索引

表2.1 Cyclone EP1C20F400C7規格………………………………………...8
表2.2 Sharp GP2D12 距離感測器規格表…………………………………13
表2.3 ADC0804腳位功能說明……………………………………………..16
表4.1 車沿壁行走轉角控制之決策堆論邏輯規則表……………………..42
表5.1 邏輯電路比較……………………………………………………….58
表6.1 模糊化模組資料表示型態…………………………………………..71
表6.2 模糊化模組輸出入埠之規格………………………………………..73
表6.3 路邊停車系統模組資料表示型態…………………………………..86
表6.4路邊停車系統模組輸出入埠之規格…………………………….......86

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