嵌入式系統的應用在日常生活中隨處可見，以手機或PDA來說，其擁有可攜性及便利性兩大特點。本論文針對此一特性，欲移植車道偏移警示演算法於結合攝影鏡頭的嵌入式系統平台上，讓使用者在不多花費任何額外費用的情況下，提供一可用於行車安全的車道偵測系統。
在本論文中，透過嵌入式作業系統本身內建的函式庫來擷取攝影機所捕捉到的影像，此一作法可避免額外安裝其它程式導致系統不穩定和節省其所佔用的空間，接著，將擷取到的影像資料經由車道偵測演算法偵測出車道線位置，接著利用所獲得的車道資訊，透過時間與空間警示機制來判斷車子是否處於車道偏移狀態，來發出警示聲音提醒駕駛者。

Embedded System can be seen everywhere in daily life, like cell phone or PDA. It has two major characteristics, portability and convenience. In this work, we want to implement lane departure warning algorithm on the combination of camera embedded system platform. Allows users not to spend any additional costs, and provides a lane departure warning system for traffic safety.
In this paper, through the built-in library on embedded operating system itself to retrieve the video camera images, this approach can avoid the additional installation of other programs cause system instability and to save spaces they occupy. We use lane detection algorithm to detect lane position of the image data captured. Then use the lane information, through spatial and temporal warning mechanisms to determine the state of the car is in lane departure. Finally give the alarm to remind drivers.

誌謝 i
中文摘要 ii
英文摘要 iii
第一章 緒論 1
1.1 研究動機 1
1.2 相關工作 3
1.3 問題挑戰 5
1.4 系統架構 5
1.5 章節組織 7
第二章 嵌入式系統環境 9
2.1 嵌入式系統介紹 9
2.1.1 嵌入式系統需求 9
2.1.2 嵌入式系統架構 10
2.1.3 嵌入式作業系統 12
2.2 嵌入式作業系統: Windows CE 12
2.2.1 Windows CE 簡介 12
2.2.2 Windows CE 5.0 12
2.2.3 Windows CE 的開發工具 14
2.3 嵌入式系統平台 15
第三章 嵌入式系統移植 17
3.1警示系統移植 17
3.2 輸入影像擷取 18
3.2.1 圖像擷取分析 18
3.2.2 圖像擷取轉換 19
3.3 空間與時間機制的車道偏移警示演算法 24
3.3.1 影像前處理 25
3.3.2 車道線偵測 28
3.3.3 偏移警示演算法 35
3.3.4 警示結果輸出 40
第四章 嵌入式系統最佳化 41
4.1 系統模組分析 41
4.2 最佳化策略 42
4.3 最佳化範例 43
第五章 車道偏移警示系統最佳化 46
5.1 系統最佳化分析 46
5.2 系統最佳化結果 47
第六章 嵌入式系統實作 51
6.1 系統實作流程 51
6.2 系統核心建構 52
6.2.1 Platform Builder開發環境建構 52
6.3 系統參數設定 54
6.4 裝置驅動程式 54
6.4.1 驅動程式原理和應用 54
6.4.2 驅動程式掛載 55
6.5系統實作結果 56
6.5.1 啟動Boot Loader 56
6.5.2 下載並執行WINCE作業系統 57
第七章 實驗結果與分析 59
7.1 實驗環境 59
7.2 實驗結果與分析 61
第八章 結論 70
參考文獻 71

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