本論文旨在利用模型預測控制與專用短距離通訊發展主動式避撞系統。近年來，由於智慧型車安全系統的蓬勃發展，陸陸續續有人提出針對主動式行車安全議題相關之車輛安全系統。在本文中，首先分別探討適用在車輛運動模型及車輛動態模型相對應的模型預測控制理論；其中，前者的模型適用於低速行駛的車輛，而後者則可用於高動態上有側向滑動的車輛模型。依照模型預測控制上的限制，車輛的避撞路徑規劃及輪胎轉動的大小皆可由最佳化問題求得。此外，本論文亦使用專用短距離通訊發展車輛防撞系統，目的為監測車用行動通訊網路上的廣播訊息，並根據所需資訊進行專門的訊息分享達成即時的車輛避撞。車輛藉由GPS 接收器定出車輛的位置、速度，並利用車間通訊技術使得所有車輛皆可以避免碰撞的發生。最後，討論利用網路模擬器模擬車用行動通訊網路在不同情境下封包的品質，以確保真實環境中通訊對此防撞系統的影響。

The objective of this thesis is to develop an active collision avoidance system by using model predictive control and Dedicated Short Range Communication. In recent years, many researches about active collision avoidance system have been proposed to meet the needs of intelligent transportation systems. In this thesis, the model predictive control theory based on vehicle kinematic model and vehicle dynamic model are investigated, respectively. The former model is suitable for low speed vehicle and the latter one is suitable for high dynamic lateral sliding vehicle model. According to the constraint of model predictive control, the vehicle collision avoidance planning and the tire rotated angle can be obtained by solving an optimization problem. Furthermore, this research also develops a vehicle monitor system based on Dedicated Short Range Communication to collect the necessary information from Vehicular Ad-hoc Network. Vehicle collision system can then achieve real time collision avoidance via data analysis and customized message sharing. By receiving vehicle position and heading from GPS receiver, vehicle-to-vehicle communication technology can prevent the collision occurred. Finally, we can use network simulator to compute quality of service on Vehicular Ad-hoc Network in different situation to ensure the communication effect of the system in real environment.

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