本論文主旨以嵌入式系統發展板為平台，實現具有手機監視/遙控與視覺導引之智慧型自主式車型載具。論文中，提出整合3G手機於視覺導引之智慧型自主式車型載具，車型載具搭載ARM發展板作為發展平台以提供兩種操作模式：(1)手機遠端監控模式，及(2)自動駕駛模式(如:循線、追蹤和避障)。在3G手機訊號涵蓋的區域，使用者可撥打電話至車型載具上之3G手機以啟動載具。使用者若選擇手機遠端監控模式，可透過3G手機的視訊影像，觀察載具週遭情況，並利用手機產生之複頻訊號(DTMF)，以解碼後之訊號作為遙控方向之依據，進而執行任務，達到遠端監控的目的；若使用者選擇自動駕駛模式，可藉由視覺感測器擷取物體顏色之資訊，對特定目標定位，執行(1)循線(2)追蹤等功能；亦可透過超音波/紅外線感測器形成之防撞裝置，輔助車型載具避開障礙物，完成避障之功能。本論文移植Linux核心於ARM (advanced RISC machine, ARM)嵌入式系統，以一有限狀態機(finite state machine, FSM)作為手機下達指令之依據。最後，以實驗結果將載具實際動作情形呈現。

This thesis presents a vision-guided intelligent autonomous vehicle with a cellphone-based remote surveillance system controlled by an ARM9 embedded system. The vehicle provides two types of operation modes: (1) cellphone remote control mode (2) autonomous driving mode. First, in a 3G coverage area, we can remotely start the vehicle by using a 3G cellphone. In the mobile remote control mode, users can drive the vehicle remotely to a desired position according to the environmental information obtained from the video of the 3G cellphone. In addition, users can gain more driving information such as obstacles around the vehicle by controlling the platform of the cellphone with proper commands. The commands are encoded by dual-tone-multiple-frequency (DTMF) signals produced by the phone. In the autonomous driving mode, the vehicle can autonomously perform the following three tasks: (1) trajectory following, (2) object tracking, and (3) obstacle avoidance. The first two tasks require a camera with an image processing algorithm to provide control actions for driving the vehicle. The vehicle is equipped with a collision avoidance system composed by ultrasonic/infrared sensors that assists the vehicle to avoid obstacles. All the required control modules/algorithms are written in C and executed under a Linux operating system in an ARM machine. Finally, our experiments shows that the vehicle can successfully perform the tasks in both modes.

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