未來展望

在未來希望能找個方法驗證本論文提出方法的效果，並以更嚴謹的數學理 論證明本論文方法在變化的環境下能優於其它方法。此外，也期許藉由政府與法 律的努力，加速推廣行車記錄器的技術發展，落實每部車皆加裝設行車記錄器的 理念。近年來，國內酒駕事故頻繁，已造成多個家庭破碎，但目前行車記錄器仍 只能做為輔佐證據，法律效益有限。希望將來能藉科技的進步，精準地記錄意外 過程，還原事發真相以保障受害者的權益，並期許這項科技對自私與存有僥倖心 態的酒駕者能有一定程度的遏阻效果，於道路安全的品質才能從根本提升，這一 切需要靠台灣人民、政府與科技發展的我們共同努力，有責任地為未來和平的社 會盡一份心力。

65

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its logarithmic form:

1 1

ln ( | ) { ln(2 ) ln( ) }

2

Maximum likelyhood condition:

ln( ) 1 min

1 1

take the derivative 0

matrices Q/R are then adapted as follows:

ˆ

67

cos cos

atan2( , )

cos cos

atan2( , )

cos cos

atan2( , )

cos cos

68

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