本論文研究目的在於設計一自動倒車入庫之控制晶片。首先利用MATLAB模擬軟體對車體行駛行為進行模擬，模擬環境則設定車輛行走於具有牆面之道路與停車庫之環境下。車輛行駛過程中，在車輛靠牆邊的前後輪端設置感測器，量測車輛與牆面之間的距離，再將此所量測之類比訊號利用類比轉數位轉換器(A/D converter)轉成數位訊號作為控制晶片之輸入資料。此控制晶片之設計以模糊邏輯理論為基礎，將輸入訊號進行模糊化、與解模糊化運算，求得輸出訊號以控制車輛下一時刻的輸出轉角之大小。所設計之倒車入庫程序經過軟體模擬驗證無誤後以FPGA方式實現之，其中利用ALTERA公司推出之Quartus II軟體，對各個區塊之電路模組進行硬體描述語言（VHDL）之編寫，並進行輸入輸出之波形模擬驗證。最後完成的晶片功能將包含對輸入訊號模糊化、解模糊化、判斷是否抵達車庫位置、等倒車之功能。 The purpose of this thesis is to design and implement a FPGA chip for garage parking. Firstly, this study utilizes MATLAB to simulate and test the schema of garage parking. It assumes that the garage is walled. In other words, the parking process is to drive the car along the wall for backing into the garage. The side near to the wall of the car is installed distance sensors near the front and rear wheel. The analog signals of the detecting distance between the car and wall is transferred to digital signals by the analog to digital converter as the input signal of the FPGA chip. The control schema of the garage parking is the fuzzy theory and implemented by the Quartus II issued by the ALTERA based on the hardware description language. Finally, the function verification is performed to confirm the availability of the control chip.
