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자동 주차 지원 시스템에 대한 사용자 감성 평가에 관한 연구
전재석(Jaeseok Jeon),문희석(Heeseok Moon),곽수진(Sujin Kwag) 한국자동차공학회 2012 한국자동차공학회 부문종합 학술대회 Vol.2012 No.5
In this paper, we described about evaluation of human sensibility using automatic parking assistance system. The perpendicular parking and parallel parking have been carried out as a user test and subjects are classified as beginning drivers, drivers with less than 1 year experience and over 3 years experience. As a result, parking duration of beginning drivers and drivers with less than 1 year experience who use automatic parking assistance system is similar to drivers with over 3 years experience. However error occurred according to sensor position and distance between vehicle and parking space. And also it occurred that the vehicle leaves from parking line or does not recognize the parking space. Therefore, if we improve its completeness by compensating problems that came up from this evaluation and distribute the automatic parking assistance system, it is expected that the automatic parking assistance system is to help driver providing convenience of parking.
운전자 만족도 향상을 위한 평행주차 조향제어 시스템 사양 및 평가방안 개발
이영준(Youngjun Lee),조철호(Chealho Cho) 한국자동차공학회 2012 한국자동차공학회 학술대회 및 전시회 Vol.2012 No.11
This paper presents the specification and verification method about the parallel parking system for driver satisfaction. The parallel parking system has been developed to park a car semi-automatically and it has been used by many vehicle manufacturers. It needs to have accurate performance because it has to carry out parking the vehicle between parked vehicles without crashing them. In particular, it is also required to consider the driver’s satisfaction about emotion and feeling while controlling the vehicle because the system is a semi-automatic type that needs to interact with the users. Thus, a specification for driver satisfaction while parking needs to be developed to improve parking performance with integration. A verification method is also required to make an excellent system that accepts the specification properly. In this paper, the specification and verification are proposed to improve driver satisfaction with the parallel parking system by analyzing the driver’s habits and emotions while parking.
김동석(Dongsuk Kim),정호기(Hogi Jung),최치권(Chigun Choi),윤팔주(Paljoo Yoon) 한국자동차공학회 2006 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
This paper describes parallel parking lot detection method using long range ultrasonic sensor. There are installed three sensors - ultrasonic sensor, steering angle sensor and wheel speed sensor in the proposed system. Ultrasonic sensor installed in rear-lateral side of vehicle is used to get parallel parking lot information. Steering angle sensor and wheel speed sensor installed in vehicle is used to get vehicle pose information for the localization of ultrasonic range data. In the proposed system, range data map of parallel parking lot can be generated with these sensors. This paper proposes two classes classification using real-time adaptive distance threshold algorithm. One is obstacle class, that means there exists parked vehicle and the other is free-space class, that means there is vacant space. With real time adaptive distance threshold, the proposed system can classify range data into two-classes efficiently that it can recognize free space in real-time. Simple template model, detects comer points of target parking lot. Furthermore, simple and cheap implementation of electric control unit for range data-based parallel parking lot detection system is possible due to the low computational complexity of proposed algorithm.
전재석(Jaeseok Jeon),박현배(Hyunbae Park),문희석(Heeseok Moon),곽수진(Sujin Kwag) 한국자동차공학회 2013 한국자동차공학회 부문종합 학술대회 Vol.2013 No.5
In this paper, we described about evaluation of human sensibility using park assist system of the commercial vehicle. The perpendicular parking and parallel parking have been carried out as a user test and subjects are classified as beginning drivers, drivers with less than 1 year experience and over 3 years experience. As a result, parking duration of beginning drivers and drivers with less than 1 year experience who use automatic parking assistance system is similar to drivers with over 3 years experience. However error occurred according to sensor position and distance between vehicle and parking space. And also it occurred that the vehicle leaves from parking line or does not recognize the parking space. Therefore, if we improve its completeness by compensating problems that came up from this evaluation and distribute the automatic parking assistance system, it is expected that the park assistance system is to help driver providing convenience of parking.
정교영(Gyoyoung Jung),손진우(Jinwoo Son),장유진(Eugene Chang),이인식(Insik Lee) 한국자동차공학회 2008 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
The people who learns an operation initially it does with difficult the part which is parking. Also the sense against the width of the automobile which oneself is operating or the length after before is unfamiliar and also the motion quality of the automobile charge is because be. When not being able to know the parking method which is a method which but builds the automobile in the place which is safe it cannot and being comfortable, the automobile life which is surplus it will not be able to expect. In this Paper, it developed the Parking Guided System of low price using front and rear view cameras. Parking guide system the retrogressive forecast course of the retrogressive hour vehicle about under indicating collision possibility of the circumferential obstacle water and it seemed and it gave and an inside malleability it improved.
평행주차를 위한 자동 조향 제어시스템 개발 및 성능평가
이대현(Dae Hyun Lee),김용주(Yong Joo Kim),김태형(Tae Hyeong Kim),정선옥(Sun Ok Chung),최창현(Chang Hyun Choi) 유공압건설기계학회 2016 드라이브·컨트롤 Vol.13 No.1
This research is conducted to develop an automatic steering system for parallel parking, and the performance of the system was evaluated by parallel parking a conventional vehicle. The automatic steering system consisted of MDPS (motor driven power steering) to control steering, ESC (electronic stability control) to acquire wheel speed, ultrasonic sensors to recognize the parking space, and a controller to communicate and handle data. The parallel parking process using the automatic steering control consisted of parking space recognition, parking path generation, and parking path tracking. The path for parallel parking was generated based on a kinematic model of a conventional vehicle, and a PI controller was used to control the steering angle for path tracking. Parallel parking using the automatic steering control was conducted according to vehicle speed conditions. The results show that the errors on the x-axis and y-axis were below 0.54 m and 0.14 m, respectively, and the error on the steering angle was less than 1°. Therefore, it is possible to implement parallel parking using an automatic steering control system for conventional vehicles.
네 개의 원호를 이용한 자동 평행주차 Path Planning 개발
신희석(Heeseok Shin),김정하(Jungha Kim) 한국자동차공학회 2018 한국자동차공학회 부문종합 학술대회 Vol.2018 No.6
There are lots of parking assistant system that have been proposed to give to help for driver. Gradually Self-driving Car’s Sensor is improved performance and more cheaper. In this paper, I suggest Parking assistance System of 4-Arcs In everywhere, This system can create Parking Path that can use for car in everywhere and every heading. The method which can create Path of Parking after the Car scan to Parking Space. Additionally, Gradually, According to Communication Technology such as V2X is more increase, Car can already know a Parking Space which is empty. In use to This System, The Car can create Parking path without People in everywhere. This system is called Auto-Valet Parking System.
유관선(Kwansun You),김성주(Sungju Kim),김재석(Jaesuk Kim),노태봉(Taebong Noh),이인식(Insik Lee) 한국자동차공학회 2011 한국자동차공학회 학술대회 및 전시회 Vol.2011 No.11
Autonomous parking assistance system in this paper is confined to the device that reduces the driver’s efforts by carrying through the following three steps instead of driver: searching the vacant lateral space with ultrasonic sensors, calculating parking course to empty parking lot, and steering automatically with using Electric Power Steering (EPS) system. This paper considers the development of algorithm after the first step in autonomous parking assistance system. It is developed the technique that makes parking path having continuous steering profile avoiding collisions with the surroundings found in parallel and perpendicular parking circumstances. And it is designed the technique tracking the path based on simple feedforward-feedback control. The techniques of path-planning and path-tracking are embodied on embedded MCU and tested at the real parking conditions composed of the cars and other objects like as cone, tree, wall and curbstone.
퍼지 추론을 이용한 주차지원 시스템의 경로추종 운동제어
김승기(Seungki Kim),장효환(Hyo Whan Chang),김창환(Changhwan Kim) 한국자동차공학회 2009 한국 자동차공학회논문집 Vol.17 No.2
A parking-assist system is defined that a driver adjusts vehicle velocity through brake pedal operation and parking-assist system controls the motion of the vehicle to follow a collision-free path. In this study, a motion control algorithm using Fuzzy inference is proposed to track a maneuvering clothoid parallel path. Simulations are performed under SIMULINK environments using MATLAB and CarSim for a vehicle model. As the vehicle model in MATLAB a bicycle model is used including lateral dynamics. The simulation results show that the path tracking performance is satisfactory under various driving and initial conditions.
김기태(Kitae Kim),안주현(Juhyun An),김기호(Kiho Kim),이인남(Innam Lee),유관호(Kwanho You) 한국자동차공학회 2013 한국자동차공학회 지부 학술대회 논문집 Vol.2013 No.5-2
As an advanced safety system is a key point of smart car in automotive field, autonomous parallel parking system is widely studied to improve the convenience of inexperienced drivers who have a difficulty in parking properly. In this paper, we present an incremental sliding-mode fuzzy logic controller(ISMFLC), which is a sliding-mode controller using different fuzzy rules subject to each different situation. We also adapt unscented Kalman filter(UKF) to compensate for a sensor noise by unscented transformation. In order to compare an performance of ISMFLC and UKF, simulations have been provided. The simulation results confirm the advanced parallel parking accuracy and the safety obtained by using the proposed algorithms.