本文提出一個以影像處理為基礎、且不需使用攝影機內外部參數之車道偏航檢知系統。本系統主要針對環境較高速公路為複雜之市區道路設計，輔助駕駛於車輛行進時進行車道偵測及偏航警示。市區道路因其交通狀況複雜，故路面常有警示標字、警示線等顏色及型態近似車道標線之干擾，易造成影像偵測上之錯誤。針對此部份，本文提出藉由市區道路之車道具備其特定寬度，且車道標線具有連續性之特性，降低警示標字及警示線之干擾，正確偵測車道標線之位置，並進一步進行車道偏航警示。本文所提方法由實驗結果顯示，可有效於環境複雜之市區道路使用，並得到良好且強健之偵測及警示結果。

A lane-departure detection system without intrinsic and extrinsic camera parameters calibration is proposed in this paper. This system, which provides driving safety by lane detection and lane departure warning, is focused on urban road with complicated lane marks instead of simpler highway cases. Due to the complexity of urban traffic, false lane detection is mainly caused by warning lines and signs which shape and color are similar to lane boundaries. In this dissertation, two lane features, i.e. specific width and lane mark continuity, are proposed to reduce image information disturbances and to obtain reliable detected results. Lane departure warning decisions are then applied to provide driving safety. Experimental results of urban road sceneries have demonstrate effectiveness of the proposed method.

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