本論文研究基於學生方程式無人車競賽，製作縮小比例之電動載具、並在由角錐定義之賽道實現對應之定位與導航系統。電動載具仿造實際競賽車輛設計，由安裝於各輪之無刷直流馬達提供推力，並由兩個小型伺服馬達分別控制兩個前輪之轉向；此外也裝有光學相機、光流速度相機、加速規與陀螺儀等感測器。所開發之自駕系統係由感測器融合與導航控制兩部分構成。感測訊號利用擴展卡爾曼濾波與FastSALM-1.0演算法融合相機與各項感測器資訊，以估計出車輛定位與角錐地圖資訊。其中角錐地圖資訊可經德勞內三角化後作適當組合、還原為賽道之路徑範圍。導航控制則是基於定位與路徑資料，應用圖形處理器平行運算多個車輛動力學模型、以隨機最佳化求解模型預測控制來達成車輛姿態之穩定性與循跡控制。透過模擬與實驗驗證、整體系統在已知地圖下之橢圓形與綜合型等兩種賽道可達成預期之行駛性能；未知地圖下則可由直線賽道展現自駕系統之即時探索與導航性能。

Based on the Formula Student Driverless (FSD) competition, this thesis is devoted to the construction of a scale-down electric vehicle, and the self-driving system for the vehicle to autonomously run on the track defined by traffic cones. The design of the electric vehicle follows the requirements of the FSD competition. Its propulsion force is provided by four brushless DC motors installed on each of the wheels, and the steering is accomplished by two small servo motors that independently orient the two front wheels. In addition, the vehicle is also equipped with an optical camera, an optical-flow speed sensor, accelerometers, and gyroscopes. The self-driving system contains two parts: sensor fusion and navigation control. The sensor fusion part uses Extended Kalman Filtering and FastSALM-1.0 algorithm to fuse camera and various sensor information to estimate vehicle location and cone map information. Particularly, the cone map information can be further processed using Delaunay triangulation so as to recover the path area of the track. The navigation control part utilizes a graphic processor unit to simulate vehicle dynamics for a massive number of control input trajectories parallelly, and then applies stochastic optimization to solve model predictive control so that control inputs achieving both attitude stability and tracking performance can be obtained. Through simulations and experiments, it is proved that the proposed methods can accomplish the expected self-driving performance on both elliptical and mixed tracks under known-map condition. For the unknown-map case, the real-time exploration and self-driving are verified experimentally using a straight track.

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