夜間車道防偏與前車防撞之駕駛警示系統

在台灣，每年有將近兩千五百人死於交通事故中，其中，肇事時間發生在晚上的比例為53%，反映出夜間駕駛的危險性。此外，最主要的肇事原因為”不適當的駕駛行為”，疲勞駕車或是手持行動電話等行為都屬於此範疇之內。有鑒於此，本論文係發展一套以夜間電腦視覺技術為基礎之駕駛輔助系統，當汽車偏離車道或是未與前車保持安全距離，則系統將給予警告。而本系統藉由車道偵測與汽車辨識來避免這兩種主要危害，以確保駕駛員於夜間行車的安全。車道偵側方面，利用道路標線在影像中的特性來偵測出駕駛員兩旁的車道線。汽車辨識方面，藉由擷取影像中汽車車尾燈的位置，進一步地配對成前車候選者，加上先前所偵側的車道邊界，便可篩選出主要車道上前導車。最後，於危害判斷方面，引入時間軸的觀念，計算出車道偏移或是與前車碰撞的時間，即可推算出駕駛員的危害程度，以阻止危害的發生，減少不必要的意外。除此之外，本論文提出以消失點偵測為基礎之相機校正，透過影像處理的技術來估測相機內部的校正參數。本系統於夜間正常天候下汽車辨識率為91%，而車道偵測率更可高達99%，證明了本系統的可靠性。此外，每秒25張的處理速度滿足及時系統的需求，也提高了本系統的實用性。

關鍵字

消失點；夜間；車道偵測；智慧型運輸系統；駕駛輔助系統；電腦視覺；汽車辨識；車尾燈；高斯濾波器；相機校正

並列摘要

In Taiwan, more than 2,500 people die in the fatal traffic accidents per year, of which 53% traffic accidents happen in the nighttime. Besides, the major cause of traffic accidents is “Improper Driving” due to driver’s inattention or fatigue. For this reason, we develop a vision based driver assistance system which has capabilities of lane departure prevention and collision avoidance at night. The objectives of this paper are to detect the lane boundaries and vehicles by use of computer vision techniques. In lane recognition, three procedures including Gaussian filter, Peak-Finding Algorithm, and Line-Segment Grouping, based on three properties, brightness, slenderness, and continuity, are used to detect land markers successfully and effectively. In vehicle recognition, taillight features are first stood out and the proposed taillight pairing algorithm is used to search vehicle candidates effectively. Besides, in this paper, we also provide an automatic method to calculate the tilt and the pan of the camera according to the position of vanishing point in the image. The proposed system is shown to work well on highway in the nighttime. The detection rate in lane detection is nearly 95%, and vehicle recognition is higher than 87%. Besides, the computation cost of our approach is low and our system can process the image in almost real time.

並列關鍵字

Vehicle Recognition ； ITS ； Vanishing Point ； Driver Assitance System ； Night Vision ； Lane Detection

參考文獻

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[8] M. Y. Chern and P. C. Hou, “The Lane Recognition and Vehicle Detection at Night for A Camera-Assisted Car on Highway,” Proceedings of IEEE International Conference on Robotics and Automation, Vol. 2, pp. 2110-2115, Spet. 14-19, 2003.

[10] Robert M. Haralick and Linda G. Shapiro, Computer and Robot Vision, Vol. 1, Additional-Wesley, 1992.

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夜間車道防偏與前車防撞之駕駛警示系統

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