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研究生: 林建志
Lin, Jian-Jr
論文名稱: 基於智慧型碰撞預警之多功能數位車用控制台
A Multi-function Digital Vehicle Console Based on Intelligent Collision Warning
指導教授: 楊中平
Young, Chung-Ping
學位類別: 碩士
Master
系所名稱: 電機資訊學院 - 資訊工程學系
Department of Computer Science and Information Engineering
論文出版年: 2008
畢業學年度: 96
語文別: 英文
論文頁數: 91
中文關鍵詞: 碰撞時間行車事件記錄器多功能數位車用控制台碰撞預警系統嵌入式系統
外文關鍵詞: collision warning system, multi-function digital vehicle console, time to collision (TTC), embedded system, motor vehicle event data recorder (MVEDR)
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  • 近年來由於各大汽車廠商積極投入和嵌入式系統的發展,使得車用型電腦成為市場上的主流。車用型電腦為駕駛與乘客提供各種個人化的應用服務。服務包含有GPS定位與導航、多媒體影音播放及行動網路,因此我們實作了一個包含通訊、多媒體、個人化等的多功能數位車用控制台。
    一個性能優良的車用控制台下需要具備兩項功能,首先如何有效地預防行車碰撞的發生,其次精確地記錄行車資訊以利事故發生後的調查。而根據統計結果顯示車禍死亡已成為十大死因之ㄧ,其造成生命威脅及財產上的損失甚巨。在車禍事故發生的原因之中,前後車未保持安全的行車間距,佔了大部份的比例,約百分之二十五。因此,碰撞預警系統(collision warning system) 已經成為行車安全上相當重要的一部分,在行車可能發生碰撞的情況下,它可即時提醒駕駛者並督促駕駛者做適當處置,以減少與前(後)車發生碰撞的機會。再者車上配備一台行車事件記錄器(motor vehicle event data recorder),可紀錄下汽車行駛中的所有數據資料,假設不幸發生車禍事故,相關的行車紀錄能協助釐清肇事原因。
    在本篇論文中,除了建置此多功能控制台外,主要探討的是如何實現一個具有即時性及高成效的智慧型碰撞預警系統,並將此系統建立在控制台上,如此提供了行車時預防碰撞的機制。在設計上採用預估碰撞時間(Time to Collision, TTC)的計算及推測方法,其運算方式是根據下列因素 - (1) 兩車相對距離、(2)兩車相對速度、(3) 兩車相對加速度、(4)人類反應時間、(5)系統執行時間、(6)後車之經度緯度 - 做為預警系統輸入變數來推測危險警告的程度,並以適當不同程度的聲響做為輸出,通知駕駛人及車內其他乘客。

    Recently, because all car manufacturers launch into the embedded systems, automobile-used computers products become the mainstream to provide driver and passenger an individualized service such as GPS position and navigation, multimedia and Mobile Internet. Thus, we have implemented a multi-function digital vehicle console (MFDVC). It includes communication, multimedia and individualization etc.
    An excellent multi-function digital vehicle console (MFDVC) requires two functions. One is how to effectively prevent traffic crashes; the other is to precisely record the driving data in order to assist in investigating after car accident happens. According to the statistics, dying in a car accident has ranked among the top ten leading causes of death. It not only causes a great damage to our property but also harms our lives. The highest ratio of causing traffic crash, say 25%, is related to the problem of keeping safe distance between two vehicles while driving. Therefore, a collision warning system (CWS) is necessary to be one of automobile equipments now. This is because it lets driver alert to any possibility of the frontal or rear-end impact collision, and promptly respond to this warning by taking appropriate precaution measure against traffic crash so that accident could be avoided. Moreover, equipping with motor vehicle event data record (MVEDR) in automobile is also required so that it is used to collect the necessary data in transit. It can help the traffic crash investigation to tell what was happened in case of car accident.
    Besides, the main subject of this study is to explore how to achieve real-time high-performance intelligent collision warning system in MFDVC. It provides the precautionary mechanism against traffic crash in transit. In this proposed CWS we use time to collision (TTC) to calculate and conjecture the time, and the computational inference is based on the following factors (input variables) - (1) relative distance between two vehicles、(2) relative velocity between two vehicles、(3) relative acceleration between two vehicles、(4) human reaction time、(5) system processing time、(6) longitude and latitude from GPS - and the buzzer will output warning message according to different levels inferred from CWS so as to alert the driver and passengers inside an automobile.

    CHAPTER 1 INTRODUCTION 1 1.1 Overview 1 1.2 Motivation 2 1.3 Organization of this thesis 5 CHAPTER 2 RELATED WORKS 7 2.1 Automobile Multimedia 7 2.1.1 BENQ – Azteca 516 7 2.1.2 LifeView - Car PC 8 2.1.3 YULON - TOBE 9 2.2 Detection of Lane Marking by CCD 10 2.2.1 Rapidly Adapting Lateral Position Handler (RALPH) system 10 2.2.2 Likelihood of Image Shape (LOIS) system 12 2.2.3 Generic Obstacle and Lane Detection (GOLD) system 13 2.2.4 Other methods of vehicle detection 14 2.3 Image of Vehicles Detection by CCD 18 2.4 Image Position by CCD 20 2.5 Global Position System (GPS) 20 2.6 Motor Vehicle Event Data Recorders (MVEDRs) 22 CHAPTER 3 BACKGROUND TECHNOLOGIES 23 3.1 Image processing of lane marking detection 23 3.1.1 Introduction 23 3.1.2 The structure of lane marking detection 24 3.1.3 Static image information of lane marking 25 3.1.4 The dynamic image data of lane marking 28 3.1.5 The equation of lane marking 31 3.2 IEEE 1616 Standard for Motor Vehicle Event data Recorders 32 CHAPTER 4 HARDWARE AND SOFTWARE ARCHITECTURE 37 4.1 Overview of Target Platform 37 4.2 Function Blocks and Hardware Devices 39 4.3 Overview of Software Architecture 44 4.4 Software Functions 49 CHAPTER 5 THE ALGORITHM OF FORWARD COLLISION WARNING SYSTEM…….. 51 5.1 Image Method 51 5.2 GPS Method 56 5.3 Forward Collision Warning 58 5.4 Lane Departure Warning 63 CHAPTER 6 IMPLEMENTATION 65 6.1 The Implementation of Vehicle Console 65 6.1.1 The Build-In Software 65 6.1.2 Graphic User Interface 65 6.1.3 GPS Program 66 6.1.4 Internet Viewer (WiFi and 3G) 66 6.1.5 Music Player and Image Player 67 6.2 The Implementation of MVEDR 67 6.3 Forward Collision Warning Systems (FCWS) 68 6.3.1 Sensor Stage 69 6.3.2 Data Fusion Stage 70 6.3.3 Warning Stage 71 CHAPTER 7 EVOLUTION AND RESULT 73 7.1 Image Processing Time 73 7.2 Human Reaction Time (τhum) 76 7.3 System Processing Time (τsys) 78 7.4 Packets Transmission Time (τtra) 79 CHAPTER 8 CONCLUSIONS AND FUTURE WORKS 82 8.1 Conclusions 82 8.2 Future Works 82

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