The Study of a Forward Vehicle Detection Warning System with Multiple-lane Detection

• Main Authors: Chiu, Shan-Ting, 邱慎廷
• Other Authors: Wu, Bing-Fei
• Format: Others
• Language: zh-TW
• Published: 2009
• Online Access: http://ndltd.ncl.edu.tw/handle/51565014465278631081

碩士 === 國立交通大學 === 電機與控制工程系所 === 98 === In This thesis the technique of image processing and computer vision theorem are applied to lane detection and vehicle detection. In the meantime, the algorithm is also applied on TI-DM642 for driving assistance system (DAS). The system has been working in different environment such as expressway, urban area and tunnel. Furthermore the algorithm is such robust to be verified with all weather condition like sunny day, cloudy day, evening, morning, night and rainy day. In the lane detection, CCD camera is used to grab the front view, and then the algorithm detects the lane making to contribute a real lane model. This model is applied to estimate and narrow the searching area in order to increase the accuracy and reduce the computation. The lane detection system has been verified successfully in expressway and urban road. Moreover, the system has been equipped on Taiwan iTS-1 (the first intelligence car of Taiwan) as vision system and combines with control system to accomplish lane keeping and lane change. The vehicle detection uses the lane model to build basic vehicle parameters and sets the ROI from the result of lane detection. Algorithm will select multiple possible objects those have strong vehicle characteristics. After feature extraction, the vehicles will be verified with the classify rules. The thesis considers kinds of the vehicle features in different weathers condition and overcomes lots of influence from environment like the text on the road, the strong shadows and light, and the reflected light from the road surface. Even with rainfall and windscreen wiper, the system works successfully. The detection has no relationship with the day or night, so it has good performance at smooth light changing or sudden light changing. With the lane model from lane detection, the algorithm could establish the multiple lane boundaries and finish the multiple forward car detection. At same time, the distance of the forward vehicle can be calculated, and the systems will warn driver that he is in the dangerous distance.