The Multi-Agent All-Day Driving Assistance System

• Main Authors: Shang-Ling Lee, 李尚玲
• Other Authors: Pau-Lo Hsu
• Format: Others
• Language: zh-TW
• Published: 2005
• Online Access: http://ndltd.ncl.edu.tw/handle/ts23y5

碩士 === 國立交通大學 === 電機與控制工程系所 === 93 === By combining the image sensor and the laser scanner, a driving assistance system is proposed in this thesis operated under different light and road conditions. Since the sensing data from all individual sensors are still limited to provide enough driving assistance functions, a feasible driving assistance system combining multiple sensors with exchanged information is proposed in this study to improve driving safety. Different types of sensors can be adopted and integrated as a multi-agent system so that communication with each other overcome the limitations of individual sensors and it leads to a more robust and capable driving assistance system. Two sensors are adopted in the proposed system, the CCD and the laser scanner. After processing the image data under different light conditions, the developed image agent obtains information of the road lanes and the front vehicles; different algorithms for day and night determined by an Otsu criterion are processed separately. Therefore, the functions of lane keeping and collision avoidance can be achieved for driving under all day. Moreover, after processing the distance data from the laser scanner, the laser-agent obtains all information of the front vehicles by applying the Kalman filter accurately. Finally, algorithms of all signal processing and multi-agent system are implemented using the VC++ . Ten typical models of driving conditions are discussed in this thesis and they indicate that through the communication of agents, difficult road conditions can be properly identified and the shortage of the single sensor is thus overcome. The detection capability of the imaging assistance system without laser radar has been proven on the high way; and furthermore, the multi-agent driving assistance system has also been realized on a golf car in the campus of National Chiao-Tung University.