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使用無線通訊控制以實現自適應巡航系統 = Implementation of Adaptive Cruise Control Using Wireless Communication / 謝向陽.

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摘要註

摘 要 車廠為了因應客戶的需要，近幾年台灣上市的熱門車型，大部分都會配有自動煞停與跟車系統，但主打經濟取向的入門車型、商用車、貨車、和舊型車款因為產品定位和早期的硬體設計限制，所以無法直接在軟體上同步升級。 為了讓市面上的車輛可以有機會用後裝市場的形式實現此功能，為此開發了一套系統使用於沒有任何輔助駕駛的車型，期望降低駕駛者的疲勞。 本研究經過設計，實現一套具備實體硬體控制的自動煞停與跟車系統，並驗證其在實際車輛環境中的可行性。 本次實驗透過光達(讀取前車距離)、車速感測器(由車上CAN BUS讀取數據)、無線通訊收發器模組(天線2.4GHz / WIFI )、踏板控制治具(步進馬達、機構)、單板電腦(整合系統運作、人機互動介面)等設備來達成透過無線通訊控制以實現自動煞停與跟車系統。此實驗可以幫助一般沒有任何輔助駕駛系統的車輛實現功能。 關鍵字: Lidar、CAN BUS、天線、踏板控制治具、Websocket通訊協定、人機介面. ABSTRACT In response to market demand, most popular car models launched in Taiwan in recent years are equipped with automatic braking and car-following systems. However, entry-level vehicles with an economic focus, commercial vehicles, trucks, and older car models are often excluded due to product positioning and early-stage hardware design limitations, making software-based upgrades unfeasible. To provide an opportunity for such vehicles to adopt automatic braking and car-following functionalities through the aftermarket, this research proposes a system specifically designed for vehicles without built-in driver assistance features, aiming to reduce driver fatigue. This study designs and implements an automatic braking and car-following system with physical hardware control and verifies its feasibility in real vehicle environments. The experimental setup integrates a LiDAR sensor (to measure the distance to the preceding vehicle), a vehicle speed sensor (data acquired via the CAN BUS), a wireless transceiver module (2.4 GHz antenna/Wi-Fi), a pedal control fixture (stepper motor and mechanical structure), and a single-board computer (for system integration and human-machine interface). These components collectively enable a wireless communication–based system to realize automatic braking and car-following functions. This experiment demonstrates the potential of equipping conventional vehicles—without factory-installed driver assistance systems—with automated braking and following capabilities through retrofit solutions. Keywords: LiDAR, CAN BUS, antenna, pedal control fixture, WebSocket communication protocol, human-machine interface.

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