本研究主要分為兩個部分：一為建立GPS與INS整合之車輛定位系統，並使用高精度之RTK-GPS來得到公分等級精度之定位；第二部分為利用光學攝影鏡頭得到之影像輸入建立行車時之道路維持系統。此部分使用語義分割來辨別車輛前方場景中視為可行道路的區塊，再透過座標之空間轉換、影像模糊化、二值化來得到道路鳥瞰視角的形狀，並以此形狀做骨架提取以作為可行進路線之參考。結合了上述提及的兩個部分，本研究之系統硬體架構為一小型電動車搭載FPGA嵌入式開發板作為控制器，以NVIDIA Jetson TX2嵌入式開發套件作為影像處理運算與整車的決策單元。並開發一Android平台APP使用者介面可供使用者對車輛進行遠端操控命令，以實現本研究車輛點到點自動導航功能。而本研究方法之一大優點為：在沒有特別設計避障策略的情況下，環境單純的情況下，僅靠語義分割得到的結果便能達到所規劃之行駛路徑會繞過障礙物所在位置。另一個優點為本研究使用Google Map API作為地圖資訊，只要在Google地圖有支援的區域，便能得到並使用API規劃的行駛路徑，當變換不同使用區域的情況下，使用者無須再自行建立地圖資訊供車輛定位。最後本研究設計實驗及驗證此方法在狹小之道路中行駛並維持在車道中的能力。

This research can be divided into two main parts. One is to establish a GPS and INS vehicle positioning system. The high-precision RTK-GPS is used to obtain the centimeter-level positioning. The second part is to establish a lane keeping system for vehicle driving based on the image input of camera. Semantic segmentation technique is used to recognize the drivable-region in front of the vehicle. The bird's-eye view which is obtained by homography can let vehicle know the shape of road. Then skeleton extraction from the shape of road is used to be the reference path. The FPGA is used as the hardware of controller, and electric vehicle integrated with a NVIDIA Jetson TX2 embedded development kit as the image processing unit and the driving decision unit. A user interface for Android app is developed for the user to remote the vehicle for achieving the point-to-point navigation. One of the advantages of this research is that in the absence of a specially designed obstacle avoidance strategy, the result of semantic segmentation can achieve the planned driving path bypass the obstacle in a simple environment. Another advantage is that the Google Maps API is used as map information. As long as the area supported by Google Maps, the planned route can be obtained and be used. When the using area are changed, the user doesn’t need to create a map again to provide information for vehicle. The experiment verifies the ability of this method for traveling in the riverside park road and maintaining the electric vehicle in the small lane.

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