Distance Estimation of Front Vehicle Based on Single Image

• Main Authors: Cheng-De Chen, 陳政德
• Other Authors: Wen-Nung Lie
• Format: Others
• Language: zh-TW
• Published: 2016
• Online Access: http://ndltd.ncl.edu.tw/handle/n2k5m5

碩士 === 國立中正大學 === 電機工程研究所 === 105 === The Advanced driver assistance system (ADAS) is a technology that the most automobile manufactures has been developed in recent years. The Lane Departure Warning System, the Forward Collision Warning System, and the Adaptive Cruise Control System are the common assistant System. In our thesis, we use the characteristic of the shadow of vehicle and the strong edge of the vehicle to detect the vehicle on current lane. Finally, we propose an algorithm to calculate the distance of front vehicle based on the width of the lane and the position of the shadow of vehicle. At first, we detect the feature of vehicle that according to the ROI, which is depended on the detected lane. Since the shadow of vehicle is a stable feature in daytime’s image, that is not affected by the color of vehicle’s body, and the gray level of the vehicle’s shadow is usually smaller than the gray level of the lane. Therefore, we calculate the gray level of the ROI as the referential thresholding, that use to detect the shadow of vehicle. In the meantime, we detect the edge of vehicle using the lower thresholding, which is different from the thresholding that detected to the lane. When detects the vehicle, the feature of vehicle’s edge is the first consideration, and the shadow of vehicle is the secondary. And we use the ratio of the edge’s pixel and the ratio of the dark pixel to get the position of the vehicle. In the end of the thesis, we statistics the ratio of accuracy of the detect vehicle under different situations, has up to 95%.