針對以路徑跟蹤為導向的客製化自駕車，本論文提出了一個驗證的模擬器原型，所提方法改進並驗證了高度非線性自動駕駛汽車模擬器原型的建立，其中，利用Vehicle Dynamics-MATLAB和Simulink-MathWorks 2018a以及觀測/卡爾曼濾波系統識別（OKID）法，為高度非線性的客製化自駕車輛控制系統建立了基於多模式的自駕車模擬器原型，利用電腦模擬，以展示自駕車模擬器原型在相關環境中的優越性。相關技術包括：一、基於觀測/卡爾曼濾波系統識別法的系統模型─適用於高度非線性的系統，例如車輛動態系統，以符合各種實際情況；二、適用於自駕車的改良版監督式控制結構，三、改良版的監督式控制體系結構─用於優化基於多模型結構的切換式控制系統，在各種情況下切換機制的平順度；四，在技術就緒指數第6級（Technology Readiness Level 6）的概念下，驗證以路徑跟蹤為導向的客製化自駕車模擬器原型。

A new prototype with verification of path-tracking-oriented simulators for customized autonomous vehicle has been proposed in this thesis. This thesis proposes improvements to the customized modelling of highly nonlinear autonomous vehicles. Therein, use Vehicle Dynamics-MATLAB & Simulink-MathWorks 2018a and the observation/Kalman filter system identification (OKID) method to establish a customized multi-mode-based prototype for the highly nonlinear vehicle control system, then use the created model to demonstrate superiority of the prototype in a relevant environment. The techniques contains (i) the OKID method-based mathematical modellings for the highly non-linear systems such as the vehicle dynamic system to fit various scenarios for the real situation, (ii) the multi-model-based modified model predictive control (MPC) with input constraints, (iii) an improved supervisory control architecture to optimize the switching mechanism for the multi-model-based control architecture, (iv) a verification of the path-tracking-oriented simulator for the customized autonomous vehicle in a relevant environment under the concept of Level 6 of technology readiness index.

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