基於卷積神經網路圖像識別的車道標線檢測與車輛轉向角預測

Lane Marking Detection and Vehicle Steering Angle Prediction Based on Image Recognition with CNN

黃奕棠(Yi-Tang Huang)

指導教授 ： 劉晉良

國立清華大學/理學院/計算與建模科學研究所/碩士(2020年)

摘要

自動駕駛技術一直是科學理論中一向十分熱門的研究項目，而在機器學習、人工智慧等技術蓬勃發展的今日，我們更能嘗試將其運用在影像辨識與車輛控制上以取得更加精確且便捷的成果。
在本篇論文中，我們將會使用道路標線影像並結合深度學習及數學理論的運算，來進一步的進行道路、行車軌跡以及車輛轉向角預測。除了數學理論、演算法等介紹外，我們也演示了一些實驗結果，其驗證了我們能使用影像來進行道路預測的假設。

關鍵字

道路標線檢測 ； 卷積神經網路 ； 行車軌跡預測 ； 轉向角預測

並列摘要

Autonomous driving technology has always been a very popular research project in scientific theory. Today, with the flourishing development of machine learning and artificial intelligence, we can try to use it in image recognition and vehicle control to achieve more accurate and convenient results.
In this thesis, we will use road images to train a convolutional neural network（CNN）, for track marking detection, as well as calculations combined with mathematical theory to further carry out road prediction, driving path prediction and vehicle steering angle prediction. In addition to the introduction of mathematical theory and algorithms, we also present some experimental results that verify the theory and algorithms for these predictions using the images of traffics in real roads.

並列關鍵字

Track marking detection ； CNN ； Driving path prediction ； Vehicle steering angle prediction

參考文獻

[1] B. Huval, T. Wang, S. Tandon, J. Kiske, W. Song, J. Pazhayampallil, M.Andriluka, P. Rajpurkar, T. Migimatsu, R. Cheng-Yue, F. Mujica, A. Coates, A.Y. Ng, An. Empirical Evaluation of Deep Learning on Highway Driving, arXiv:1504.01716v3 [cs.RO] 17 Apr 2015

[2] S. Lee et al. , VPGNet: Vanishing Point Guided Network for Lane and Road Marking Detection and Recognition, In ICCV, 2017.

[3] D. Neven, B. De Brabandere, S. Georgoulis, M. Proesmans, L. Van Gool , Towards End-to-End Lane Detection: an Instance Segmentation Approach, arXiv:1802.05591v1 [cs.CV] 15 Feb 2018

[4] P. Lu, C. Cui, S. Xu, H. Peng, F. Wang, SUPER: A Novel Lane Detection System, arXiv:2005.07277v1 [cs.CV] 14 May 2020

[5] P. Cudrano et al. , Advances in centerline estimation for autonomous lateral control, arXiv:2002.12685v1 [cs.RO] 28 Feb 2020