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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.
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.
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.
자율 주차 시스템의 직각 주차를 위한 조향 제어 알고리즘
이한승(Hanseung Lee),김동욱(Dongwook Kim),이경수(Kyongsu Yi) 한국자동차공학회 2011 한국자동차공학회 부문종합 학술대회 Vol.2011 No.5
This paper describes a steering control algorithm of autonomous parking vehicle for perpendicular parking. The proposed control algorithm consists of a desired path generation, a path tracking controller and steering angle decision. The desired path is generated by consisting of arcs and lines when starting point and target point are given. A path tracking controller is designed based on linear quadratic optimal control method using 2 DOF bicycle model. The path tracking controller determines a front steering angle in order to track the desired path determined by the path generation algorithm while vehicle moves forward to approach to parking space. Parking space and updated target point is defined by using sonar sensors when vehicle approaches to parking space. Steering control algorithm calculates a front steering angle in order to enter parking space backward and determines feedback steering angle when collision is predicted by sonar sensor data. The performance of proposed control algorithm has been verified using computer simulations.
이한승(Hanseung Lee),김동욱(Dongwook Kim),이경수(Kyongsu Yi) 한국자동차공학회 2010 한국자동차공학회 학술대회 및 전시회 Vol.2010 No.11
This paper describes an autonomous control algorithm for a perpendicular parking. The proposed control algorithm consists of a desired path generation algorithm and a path tracking controller. The desired path generation algorithm is developed using a model predictive control (MPC) method using 2DOF particle mass model in order to consider a nonholonomic constraint of vehicle model as well as inequality constraints of steering and velocity. The path tracking controller is designed based on linear quadratic optimal control method using 2 DOF bicycle model. The path tracking controller determines a front steering angle in order to track the desired path determined by the path generation algorithm. It is shown from the simulation results that the proposed control algorithm provides the satisfactory control performance for the perpendicular parking.
자율 주차 시스템의 직각 주차를 위한 DGPS와 초음파센서 융합
이한승(Hanseung Lee),김동욱(Dongwook Kim),이경수(Kyongsu Yi) 한국자동차공학회 2011 한국자동차공학회 학술대회 및 전시회 Vol.2011 No.11
This paper describes a position estimation algorithm by DGPS and ultrasonic sensor fusion for perpendicular parking. The proposed estimation algorithm consists of local Kalman filters for GPS and ultrasonic sensors and a master Kalman filter which integrates local filters. These Kalman filters make up a decentralized Kalman filter. Since a combination system of GPS and IMU could have a bias and accumulated error, ultrasonic sensors are used for correction. The GPS system offers estimated position information and covariance of positions as a local filter. The local Kalman filter for ultrasonic sensors receives distance measurement of an obstacle and calculates estimated obstacle position and covariance of obstacle position. The master filter makes a decision from which information is accurate and gives a weighting to an accurate sensor. This position estimation algorithm can offer accurate target position for parking and handle uncertainties at parking space. The performance of proposed control algorithm has been tested by computer simulations and verified by vehicle test.