以FPGA開發板實現車道偏移警示系統

Lane Departure Warning System On FPGA Development Board

廖子毅(Tzu-Yi Liao)

指導教授 ： 吳章銘

中原大學/電機資訊學院/電子工程研究所/碩士(2021年)

https://doi.org/10.6840/cycu202100119

摘要

本論文使用友晶科技DE2-115開發板、D5M數位相機套件，將鏡頭所拍攝到的即時行車影像，進行灰階化、Sobel邊緣偵測、直線偵測並判斷行車路徑是否偏移，處理完的圖像資料經由VGA輸出，傳送至螢幕上顯示，用以判斷所偵測到的結果是否正確。以IC電路架構之設計，加速影像處理的速度。
此外，本論文還加入了車道偵測與偏移偵測。在駕駛未打方向燈的情況之下，若車輛偏移了車道，則對駕駛進行警示，利用這個系統來輔助駕駛對車輛進行控制，來達到增進行車安全的目的。而車道偵測是對霍夫轉換進行簡化，利用蒐集車道線資料的方式來建表，這樣可初步的將非車道線的直線排除掉，以減少尋找車道線時所需代入的斜率與截距的數量。再利用車道線的直線方程式來判斷是否偏移。

關鍵字

車道偏移

並列摘要

This paper uses the DE2-115 development board and D5M digital camera kit of Youjing Technology to perform grayscale, Sobel edge detection, straight line detection and determine whether the driving path is offset, and the processing is completed. The image data is output via VGA and sent to the screen for display to determine whether the detected result is correct. The design of IC circuit structure accelerates the speed of image processing.
In addition, the paper also adds lane detection and deviation determination. In the case of driving without turning on the turn signal, if the vehicle deviates from the lane, the driver is warned. Use this system to assist driving to control the vehicle to achieve the purpose of increasing vehicle safety. Lane detection simplifies the Hough conversion. It uses the method of collecting lane line data to build a table, so that straight lines that are not lane lines can be initially eliminated, and only the straight lines that may be lane lines are substituted for calculation to reduce The number of slopes and intercepts to be substituted when looking for lane lines. Then use the straight line equation of the lane line to judge whether it is offset.

並列關鍵字

Lane Departure

參考文獻

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