使用影像辨識之自動停車系統

Development of an Automatic Parking System Using Image Recognition Technology

鄒鎮謙(Jen-Chian Tzou)

指導教授 ： 蕭耀榮

國立臺北科技大學/機電學院/車輛工程系所/碩士(2006年)

摘要

以現今車輛技術的發展趨勢來看，除了提升車輛本身的動力與操控性能、電子化和提升車輛的安全性之外，智慧化系統也是發展的方向之ㄧ。本研究之目的是建構自動停車系統，主動幫助駕駛者將車輛自動的停置於停車格之中，減低駕駛者對於停置車輛時的負擔，並減少停車所花費的時間。
本研究可分為兩大部分，首先是視覺感測系統，本系統使用CCD(Charge Coupled Device，電荷耦合元件)相機擷取含有停車格之影像，再利用機械視覺與影像處裡技術，從擷取的影像中分離出停車格的邊界影像，並以逆透視轉換原理由影像中的停車格求得實際的大小和本車之相對距離與關係。第二部份則是停車控制系統，藉由影像處理後的停車格幾何關係，判別停車模式為路邊停車或倒車入庫模式，再以車輛與停車格的相對位置，角度以及停車模式為參考依據，計算出一條最佳的停車路徑，最後以模糊邏輯控制器控制車輛依循目標路徑將車輛正確的停置於停車格之中。

關鍵字

影像辨識 ； 自動停車

並列摘要

In the recent development of vehicle technologies, improvement of vehicle power and drivability, vehicle electronics and vehicle safety are major developing fields. But intelligent vehicle system also becomes an important field now. The purpose of this research is to develop an intelligent automatic vehicle parking system. This system aims to park a vehicle into a desired parking lot automatically. With the aids of this system, driver’s burden and time spent in parking vehicle can be significantly reduced.
There are two major parts of this research. The first part is the vision measuring system, and the second part is vehicle parking control system. In the first part a CCD camera is used to catch the image of a parking destination. Then technologies of machine vision and image processing are applied to locate the parking lot boundary lines from the caught image. The theory of inverse perspective transformation is then used to calculate the dimensions of desired parking lot and the distance between the vehicle and parking lot. In the second part the vehicle is controlled to drive into the parking lot. Mode of garage parking or parallel parking is selected by the driver. Then an optimal path is determined by the information obtained from the processed image. Finally, a fuzzy logic controller is applied to control the vehicle moving into the parking lot precisely through a determined path.

並列關鍵字

image recognition ； automatic parking

參考文獻

[3] Ken Oizumi, Yasuhide Yamamoto and Masao Sakata, “Development of All-Around-View System,” SAE technical paper series, 2003-01-0017, 2003.

[4] Shoji Hiramatsu, Akihito Hibi, Yu Tanake, Toshiali Kakinami, Yoshifumi Iwata and Masahiko Nakamura, “Rearview Camera Based Parking Assist System with Voice Guidance,” SAE technical paper series, 2002-01-0759, 2002.

[6] Oliver Buhler, “Automatic Testing of an Autonomous Parking System Using Evolutionary Compuation,” SAE technical paper series, 2004-01-0459, 2004.

[9] Lyon. D,〝Parallel Parking with Curvature and Nonholonomic Constraint,〞Proc. of IEEE Inter. Conf. Intelligent Vehicle Symposium, Detroit, MI, pp. 341-346, 1992.

[10] Shih-Jie Chang, “Autonomous Fuzzy Parking Control of a Car-Like Mobile Robot,” IEEE Transactions on Systems, Vol.33, No.4, 2003.