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研究生:涂家盛
研究生(外文):Chia-Sheng Tu
論文名稱:高速公路車輛偏移車道及前車追撞警示系統
論文名稱(外文):Lane Departure and Forward Collision Warning Systems for Vehicle on Highways
指導教授:王仲淳
學位類別:碩士
校院名稱:元智大學
系所名稱:電機工程學系
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:2009
畢業學年度:97
語文別:中文
論文頁數:60
中文關鍵詞:車道偵測車輛偵測高速公路
外文關鍵詞:Lane detectionVehicle detectionHighway
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本文描述如何利用電腦視覺及影像處理的技術來偵測高速公路的車道線及前方車輛。主要藉由架設在車內的攝影機,拍攝車輛行進間的道路影像,加以分析、處理後,提供駕駛人所需的路況資訊,以提升行車安全。
文中使用單一影像擷取設備取得車輛前方影像,透過最大亮度梯度變化偵測可能的車道線,再利用最小平方差法來描繪出車道線,依左右標線建立兩直線方程式,可迅速判斷車輛是否偏離道路。
而前方車輛偵測的演算法則是萃取出車輛紅色的車後燈,利用影像中前方車輛後車燈之間距與前車距離的關係,判斷是否與前車過於貼近。
This thesis presents the techniques of computer vision and image processing used for the detection of highway lanes and vehicles. This system acquires the road scene images from a forward-looking vehicle-mounted camera. After processing and analyzing these images, the system offers the information that the driver needs to improve the traffic safety.

It displays lane edge trace to extracting road edge and lane information for smart intelligent navigation of vehicles. Using two linear functions, we describe left and right lane lines, and then apply the least-square-error method to filter these edge-point segments to approximate the lane boundary. Through the use of the two linear functions, we can determine road front width whether there is any lane departure.

On the other hand, after filtering the detection of front vehicle taillights, we determine whether the car is too close to the front vehicles by the relationship between the width of front vehicle taillight pairs and the distance from front vehicles.
書名頁………………………………………………………II
口試委員審定書……………………………………………III
論文授權書…………………………………………………IV
摘 要………………………………………………………V
Abstract……………………………………………………1
誌 謝………………………………………………………3
目 錄………………………………………………………4
圖目錄………………………………………………………7
表目錄………………………………………………………9
第一章 緒論…………………………………………………1
1.1 前言……………………………………………………1
1.2 文獻回顧………………………………………………3
1.2.1 車道線偵測相關文獻………………………………3
1.2.2 車輛偵測相關文獻…………………………………4
1.3 研究動機與目的………………………………………7
1.4 本文架構………………………………………………9
第二章 數位影像處理理論…………………………………10
2.1 影像取樣原理…………………………………………10
2.1.1 影像表示法…………………………………………11
2.2 以亮度、灰階表示的數位影像………………………12
2.2.1 灰階化………………………………………………12
2.2.2 二值化………………………………………………12
2.3 二維影像的座標………………………………………13
2.4 中值濾波………………………………………………14
2.5 影像標籤化面積過濾…………………………………16
2.6 動態影像特性介紹……………………………………17
第三章 高速公路車上道線偵測……………………………20
3.1 車道線偵測區域劃分…………………………………20
3.2 車道線的特性…………………………………………21
3.3 車道線判斷……………………………………………22
3.4 直線近似法……………………………………………24
第四章 高速公路上前方車輛偵測…………………………32
4.1 前方車輛偵測區域劃分………………………………32
4.2 車後燈之判別與萃取…………………………………33
4.3 前方車輛警示之車寬估算……………………………37
第五章 實驗結果與分析……………………………………39
5.1 實驗設備………………………………………………39
5.2 車道線偵測……………………………………………39
5.3 前方車輛偵測…………………………………………46
第六章 結論及未來展望……………………………………52
6.1 結論……………………………………………………52
6.2 未來展望………………………………………………54
參考文獻……………………………………………………55
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