智慧型交通運輸系統（Intelligent Transportation System; ITS)在車載環境中提供各種不同的服 務，其中許多ITS應用都需要利用車輛精準的定位資訊。目前常見定位方法由於定位精確度仍顯 不足，甚至受限於佈建成本，因此無法完全適用於目前的車載環境中。有鑑於此，本論文提出行 車影像輔助之協同式定位系統(Video-assisted Inter-vehicle Positioning; VIP)。此系統整合GPS接收器 與行車紀錄器，透過影像處理所擷取的感測資料，並經由車間通訊交換這些資訊以提升定位的準 確性。在此系統中，預設每輛車皆裝設GPS接收器以及WAVE/DSRC通訊模組；並且有部分的車輛 裝設行車紀錄器。裝設行車紀錄器的車輛可以透過影像辨識出的車道別，以及透過電子地圖找出 GPS位置對應的車道別來驗證GPS位置的誤差程度。在協同式定位的過程中，這些資訊與附近車 輛進行交換，區別出車輛GPS位置的權重並對自己的GPS位置進行修正。模擬結果顯示本系統在 50%車輛裝設行車紀錄器的情形下，車輛位置的準確性即可達到10%至30%之提升。而在所有車輛 皆裝設行車紀錄器的情形下，準確性可大幅提升30%至40% (誤差修正至3公尺內)。

Intelligent Transportation System (ITS) provides various services for vehicular environments , while most of the ITS applications require accuracy position of vehicle to be developed. However, the current positioning techniques and devices may not satisfy the accuracy requirement. In this paper, we present a Video-assisted Inter-vehicle Positioning (VIP) system. The system integrates sensed data extracted from GPS receiver and driving video logger with image processing techniques, and then the sensed data is exchanged to nearby vehicles for improving the accuracy of cooperative positioning. In our system, each vehicle is equipped with a GPS receiver and WAVE/DSRC equipment, and some vehicles are equipped with driving video logger, called fully equipped vehicle. Each fully equipped vehicle will assess the difference between the lane recognized by the image processing module and the lane is referred to digital map module to validate the accuracy of its GPS position. Then, this information will be exchanged among vehicles to differenti ate the weights of received positions during the cooperative positioning process. Simulation results show that our approach can achieve 10~30 percent of improvement in the position accuracy when only half of vehicles were fully equipped, and improve the accuracy by factor of 30~40 percent (within 3m) if all vehicles were fully equipped.