臺灣博碩士論文加值系統

本論文之主要目的在發展道路標線偵測與前車碰撞警告系統。因為駕駛者在駕駛時容易被前方車輛或左右車輛無預警的行為影響，導致應變不及而發生危險，因此各車廠陸續開發出許多駕駛安全輔助系統，以保護駕駛者的安全。高速公路上道路標線偵測與前車碰撞警告系統中在駕駛安全輔助系統中扮演一個非常重要的角色。道路標線偵測可以協助系統判斷本車車輛異常跨車道的行為，並監控車輛前方的安全範圍。前車碰撞警告可以在左右車道車輛突然跨入本車車道或是本車前方車輛離本車太近時進行警告避免車禍發生。
本研究將行車紀錄器裝置在車輛的擋風玻璃上，拍攝前方車輛與標線，再輸入系統進行分析。本系統依功能可分為兩個子系統，道路標線偵測子系統與前方車輛偵測子系統。道路標線偵測子系統利用Sobel邊緣偵測技術及Hough transform線段偵測技術來擷取車道標線。前方車輛偵測子系統，在日間時利用Otsu’s method尋找適合之門檻值擷取出陰影特徵，並利用水平邊緣偵測車輛水平特徵，同時採用此兩項特徵進行影像中車輛定位；另外，在夜間或雨天時則使用YCrCb色彩空間的Cr component及HSI的Hue component擷取煞車燈顏色特徵，並透過煞車燈的對稱性進行車輛定位。
實驗結果顯示，本系統具高度的穩定性及可用性。雖然在隧道中前方車輛偵測的正確率較低，但在下雨天或是夜間視線極度不良時仍能正常運作。未來希望能發展成嵌入式系統裝置在各車輛上實際上路使用。

關鍵字：大津法、車道標線偵測、車輛偵測

The main purpose of this thesis is to develop a front-vehicle collision warning system. Drivers are easy to affect by the unexpected behaviors of neighboring vehicles and sometimes cause traffic accidents. Therefore, many driving assistance systems have been developed by car companies to protect drivers. The lane marking detection and front-vehicle detection system on the highway is one of the driving assistance systems.
The lane marking detection system can detect abnormal lane change behaviors of the host vehicle, and monitor the road region in front of the host vehicle for safety. The front-vehicle collision warning system can warn the drivers when they are in dangerous traffic situations, for example, “the left-side or right-side vehicles suddenly enter to the host lane” or “the front vehicle is too close to the host vehicle.”
In this study a recorder is set on front windshield to obtain the input sequences. The proposed system can be divided into two sub-systems, one is the lane marking detection sub-system and the other is the front-vehicle detection sub-system. The lane marking detection sub-system uses Sobel edge detection and Hough transform technique to extract the lane marking.
The front vehicle detection sub-system can process two different situations, the daytime and the nighttime or raining day. This system uses Otsu’s method to find the suitable threshold to extract the vehicle’s shadow, and uses a horizontal edge detection to detect vehicle’s horizontal features in daytime. Combine these two features, the system can verify the locations of front vehicles. On the other hand, the system uses Cr component of YCrCb color model and Hue component of HSI color model to extract the light features in nighttime or raining. Moreover, the system uses the property of the symmetry of brake lights to verify the location of front vehicles.
The experimental results show that the proposed system has great stability and usability. Although the front-vehicle detection system obtains lower correct rate in the tunnel, it still works when raining or extreme bad sight in nighttime. Finally, we hope the proposed system can be embedded into driving assistance systems installed in every vehicle in the future.

Index terms—Otsu’s method, lane detection, vehicle detection

摘要 I
ABSTRACT II
誌謝 IV
目錄 V
圖目錄 VII
表目錄 X
第一章 緒論 1
第一節 各式駕駛安全輔助系統 1
第二節 研究動機與困難 9
第二章 文獻探討 14
第一節 車道標線偵測技術 15
第二節 車輛偵測技術 17
第三節 系統流程 20
第三章 道路標線偵測系統 25
第一節 邊緣擷取 25
第二節 線段擷取 26
第三節 道路標線偵測 28
第四節 超車車道位置判斷 33
第四章 道路標線偵測結果 35
第一節 實驗範例 37
第二節 實驗結果 44
第三節 偵測錯誤原因 49
第五章 車輛偵測系統 50
第一節 Otsu’s method 50
第二節 日間車輛偵測範圍 52
第三節 日間車輛偵測 53
第四節 夜間或雨天車輛偵測 57
第五節 車輛距離計算 60
第六章 車輛偵測結果 62
第一節 實驗範例 64
第二節 實驗結果 71
第三節 偵測錯誤原因 77
第七章 結論與未來工作 78
第一節 結論 78
第二節 未來工作 78
參考文獻 81

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