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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.
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.
김재석(Jaesuk Kim),유관선(Kwansun You),노태봉(Taebong Noh),최치권(Chigun Choi) 한국자동차공학회 2014 한국자동차공학회 학술대회 및 전시회 Vol.2014 No.11
Smart Parking Assistance System(SPAS) is confined to the device that reduces the driver’s efforts by carrying through the following three steps instead of driver: searching the vacant space with ultrasonic sensors, calculating parking course to detected parking lot, and steering automatically with using Electric Power Steering (EPS) system. Now, the manufactures are developing the automatic parking assist system that control automatically not only EPS, but driveline, brake and transmission to increase the driver’s convenience and safety. In this pater, Remote Smart Parking Assist System(R-SPAS) based on ultrasonic sensors is integrated EPS system, driveline, brake and transmission. And it is controlled by smart device automatically. Human Machine Interface (HMI) and smart device display are designed to inform the user of vehicle state, operation, sound. It helps the user visibility and convenience. Especially, we applied the safe functions to avoid collision those although the user doesn’t recognize around obstacles such as a passing vehicle, cart and pedestrian. We verified that performance in parallel and perpendicular park scenarios using a simulation program. Also, the vehicle test results obtained from various environments on smart devices have shown the reliable performance, safety and convenience of R-SPAS.
자동 발렛 파킹을 위한 테스트 플랫폼 설계 및 주행 검증
우훈제(HoonJe Woo),손성효(SungHyo Son),문희창(HeeChang Moon),성경복(KyungBok Sung),김정하(JungHa Kim) 한국자동차공학회 2011 한국자동차공학회 부문종합 학술대회 Vol.2011 No.5
This paper introduces an automated valet parking system (AVP) which applies an autonomous driving concept into the current parking assistant system (PAS). The present commercial PAS technology is limited into vehicle. It means vehicle only senses and controls by and for itself to assist the parking. Therefore, the present PAS is restricted to simple parking events. But AVP includes wider parking events and planning because it uses infra-sensor network as well as vehicle sensor. For the realization of AVP, the commercial steering system of a compact vehicle was modified into steer-by-wire structure and various sensors like LRF (Long Range Finder) and camera were installed in a parking area. And local & global server decides where and when the vehicle can go and park in the testing area after recognized the status of environment and vehicle from those sensors. GPS solution was used to validate the AVP performance. More various parking situations, vehicles and obstacles will be considered in the next research stages based on these results. And we expect this AVP solution with more intelligent vehicles can be applied in a big parking lot like a market, an amusement park, etc.
노태봉(Taebong Noh),김성주(Sungju Kim),김재석(Jaesuk Kim),이인식(Insik Lee) 한국자동차공학회 2013 한국자동차공학회 부문종합 학술대회 Vol.2013 No.5
Intelligent Parking Assist 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 available parking space using 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 for searching function to improve driver’s usability in Intelligent Parking Assist System. It is suggested the left/right combination searching, parking mode auto detection and bidirectional communication HMI. This algorithm has been validated the feasibility in the Hardware-in-the-loop simulator.
고민석(Minseok Koh),최규흠(Kyuheum Choi),조병룡(Byoungryong Cho) 한국자동차공학회 2008 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
The objective of safety system is to reduce damage to life and property in crash accidents. Automotive safety systems are built to reduce not only the number and severities of injuries but also the likelihood of crashes. Recently, the consciousness of consumers for safety system has been changed. They are trying to buy safer car referring to crash test results such as NCAP and IIHS and are interested in active safety system as well as passive safety system. Therefore car maker and supplier have to make an effort to satisfy consumer's requests and correspond to enforced regulation and also try to develop new safety system technology. This paper will describe the market trend of active and passive safety system in Europe and North America and introduce technology of new safety system.
바이모달 트램의 후진주차보조 알고리즘 개발에 관한 연구
최성훈(Seonghoon Choi),박태원(Taewon Park),이수호(Sooho Lee),문경호(Kyeongho Moon) 한국자동차공학회 2009 한국 자동차공학회논문집 Vol.17 No.5
The bi-modal tram is under development as a new public transportation. The features of the tram are an extended wheel base and its length. This features result in difficulties for drivers on maneuvering the tram. Therefore, the all wheel steering system is applied to the articulated vehicle. The AWS system enables the vehicle to steer all the rear wheels independently and improves its driving characteristics. However, the bi-modal tram has a problem to move backward in the limited place because of its geometric feature and the AWS system. Hence, the reverse parking assistant algorithm for articulated vehicle is developed to solve the problems of the reverse parking. Using the vehicle model which includes the reverse parking assistant algorithm, the dynamic analysis is performed for several parking cases. By the result of the analysis, the stability and validity of the reverse parking assistant algorithm is verified.
이태호(Taeho Lee),김영춘(Youngchoon Kim),정도현(Dohyun Jung),이영우(Youngwoo Lee),김문식(Moonsik Kim) 한국자동차공학회 2023 한국자동차공학회 학술대회 및 전시회 Vol.2023 No.11
As autonomous driving technology advances, various autonomous driving technologies such as HDA (Highway Driving Assist) and LKA(Lane Keeping Assist) systems are being developed and commercialized. In addition, the parking assist system have recently been actively developed for the convenience of driver who is not familiar with driving. Therefore, parking space or parking line recognition technology is essential for accurate and safe automatic parking. The purpose of this paper is to detect and recover the damaged parking lines through parking line recognition using LiDAR, which is more robust to illumination and environmental changes than other sensors such as a camera and ultrasonic sensors.
후방영상 기반 주차 보조 시스템에서 정밀 이동거리 추출 기법
김호영(Ho-Young K),이성원(Seong-Won Lee) 한국통신학회 2012 韓國通信學會論文誌 Vol.37 No.12(융합기술)
최근 출시되는 주차보조시스템에서 후방물체와의 거리정보를 알아내는 방법으로는 초음파 센서나 레이더 등의 추가 센서장비를 활용하는 방법들이 있다. 하지만, 추가적인 장비의 사용은 추가적인 비용과 함께 기존 차량에서의 도입이 쉽지 않은 문제점을 가지고 있다. 다른 방법으로는 움직임 스테레오 기법이 제안되었다. 하지만, 스테레오 조정(Stereo Rectification) 단계에서 좋은 특징점의 검출과 정확한 매칭결과가 필요하다는 단점을 가지고 있다. 본 논문에서는 후방카메라 1대만을 사용하여 취득한 연속영상정보를 바탕으로 평행주차상황에서 영상의 사각화 변환과 라인단위 적분 사영화 및 블록화 기반 유사도 조사를 통하여 연속거리정보를 추출하는 방법을 제안하고자 한다. 실험에는 Magna Parallel 영상을 사용하였으며, 수행한 실험결과 후방공간에 대한 화면의 라인단위 연속거리의 측정이 가능함을 보였다. In the recent parking assistant systems, finding out the distance to the object behind a car is often performed by the range sensors such as ultrasonic sensors, radars. However, the installation of additional sensors on the used vehicle could be difficult and require extra cost. On the other hand, the motion stereo technique that extracts distance information using only an image sensor was also proposed. However, In the stereo rectification step, the motion stereo requires good features and exacts matching result. In this paper, we propose a fast algorithm that extracts the accurate distance information for the parallel parking situation using the consecutive images that is acquired by a rear-view camera. The proposed algorithm uses the quadrangle transform of the image, the horizontal line integral projection, and the blocking-based correlation measurement. In the experiment with the magna parallel test sequence, the result shows that the line-accurate distance measurement with the image sequence from the rear-view camera is possible.