本論文主要是探討如何設計與實現智慧型自主式停車控制器，並應用於智慧型模型車上。此智慧型模型車是一個依據個人數位助理(PDA)所下命令、整合紅外線感測器和超音波感測器來感應外界環境與結合快閃記憶體機制的個體，所有的計算與控制法則皆透過現場可程式化閘陣列(FPGA)晶片完成。此控制器，不僅可以達到PDA的命令要求，還可以自行判斷車庫並順利停車，對於無法停車的車位更可以回傳訊號通知PDA無法停車。在論文中，首先描述整個系統的硬體架構組成，再分別針對模型車的FPGA晶片單元、PDA單元、無線模組單元、紅外線感測器單元與超音波感測器單元作介紹與說明。其次提出路邊停車、車庫停車及自主式停車之控制法則，接著以硬體描述語言(VHDL)對整個控制系統加以模組化設計，完成電路的模擬與佈局。然後將所設計的控制電路程式燒錄至快閃記憶體，透過存取溝通機制使程式下載至控制晶片中。最後，從電腦模擬驗證結果和實際實驗成果看出我們所設計的智慧型自主式停車控制器之可行性。

　　This thesis presents the design and implementation of the intelligent automatic parking controller and accomplishes it in a smart car. This car possesses the function to accept the command from the personal digital assistant (PDA), and estimates the environment by integration of infrared and ultrasonic sensors. All calculation and control rules are achieved by field programmable gate array (FPGA). This controller can not only achieve PDA’s commands, but also decide the space of garages and park well. On the unable parking condition, the controller will transmit the warning signal to PDA.
In the thesis, we first describe the system architecture that includes the FPGA unit, the PDA unit, the wireless unit, the infrared sensors and the ultrasonic sensors. 　　　　Secondly, we present control rules of parallel parking, garage parking and self parking. The very high hardware description language (VHDL) is used to design the circuits of the controller. Finally, it is perceived that our intelligent autonomous parking controller is feasible from the computer simulations and the practical experiments.

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