A New Method of Efficient Road Following Algorithm Based on Temporal Region Ratio and Edge Constraint

• Main Authors: Chen, Shen-Chi, 陳宣輯
• Other Authors: Lin, Chin-Teng
• Format: Others
• Language: en_US
• Online Access: http://ndltd.ncl.edu.tw/handle/23895673002809800058

碩士 === 國立交通大學 === 生醫工程研究所 === 97 === In recent years, since the number and properties of the vehicle are continuous increasing, the complexity of road condition and the difficulties of operation increase relatively. As of today, physically driving not only requires drivers’ full attention but could potentially amplify drivers’ stress and possibility of car accidents. As people become more concerned about the safety in driving, many research institutes around the world, well-known automobile manufactures, and academic research labs invest a tremendous amount of effort to develop a safe driving assistance system of ITS (Intelligent Transportation System) to alleviate the problems of physical driving. With many expectation and applaud, the advanced supporting system has transformed into an active safe operating system, and ultimately will develop into an automatic driving system. Since the driving path boundary detection is one of the key techniques of automatic driving system, this paper is based on the use of images captured by the CCD (charge coupled device) camera and we discovered the general boundary features to steadily achieve main driving path boundary detection and tracking system. We purpose to integrate two major features, edge intensity and color distribution, of road boundary and mitigate the problems encountered by many other studies which utilize only one major feature for road boundary detection. In this paper we will explain how to make use of the advanced algorithms to amend the problems in other literatures. Our algorithms utilize effective features to enhance the adaptability of the system; the system is able to manage various types of road boundary includes general urban road, highway, or any boundary with the clear lane line. In addition, we use the general characteristics of the boundary, and therefore the system is still able to effectively provide detection result at the road without clear boundary such as the countryside paths, the road with no lane line, and the scene at the night. In the design of the system we take into account many driving situations, such as changing lanes, left and right side move, and non-flat roads lead to camera shake. Therefore, the system possesses good ability to deal with general driving conditions and variations. This paper presents a system which includes main driving path boundary detection and boundary tracking with advanced real-time adaptability and efficiency.