未來展望

本文所提出的控制架構配合適應性參考模型可以得到不錯的效果，但仍有許多地方 需要改善。

由實驗結果得知，車輛動態與參考訊號仍具有相當的誤差存在，這點可從硬體架構 改善，更換精確度較高且數位訊號輸出的陀螺儀與加速度計，除了提高橫擺角速度的量

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測準確度之外，也有助於側滑角的估測，在系統辨別時也可得到較準確的數學模型來描 述車輛動態，也可藉由增加DSP 控制器的取樣頻率以提高控制效能。

本文是利用簡單的腳踏車模型為基礎設計控制器，其假設縱向速度為固定且角度為 小角度的情況，未來將考慮縱向速度為時變以及加入輪胎模型去進行車輛控制器的設計。

在適應性參考模型方面，本文僅考慮緊急避障的情況，未來將探討更多不同的駕駛情境，

例如行駛在一般市區與高速公路等不同的情境，使四輪轉向車輛發揮更大的效能，提高 駕駛人的安全性以及舒適性。

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