• 드라이브 ㆍ 컨트롤
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• 제13권1호
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• pp.18-26
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• 2016

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 $1^{\circ}$. Therefore, it is possible to implement parallel parking using an automatic steering control system for conventional vehicles.

• 한국자동차공학회논문집
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• 제11권5호
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• pp.176-182
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• 2003

The researches for autonomous vehicle have been implemented in many studies, but most studies were confined to the lane fol1owing and changing. This paper addresses a problem of autonomous lane following parking a nonholonomic vehicle. The algorithm for image processing by the hough transform and controlling a steering angle and speed to park a nonholonomic vehicle is developed. The developed system which integrated the control algorithm for parking and vision algorithm for line traction tested with RC car and verified by the performance of the detection of parking area and the reactive parking without collisions.

• 한국자동차공학회논문집
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• 제17권2호
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• pp.1-9
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• 2009

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.

• 한국정밀공학회지
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• 제26권12호
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• pp.69-77
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• 2009

In this study an ANFIS-based trajectory tracking motion control algorithm is proposed for autonomous garage and parallel parking of a model car. The ANFIS controller is trained off-line using data set which obtained by Mandani fuzzy inference system and thereby the processing time decreases almost in half. The controller with a steering delay compensator is tuned through simulations performed under MATLAB/Simulink environment. Experiments are carried out with the model car for garage and parallel parking. The experimental results show that the trajectory tracking performance is satisfactory under various initial and road conditions

• 로봇학회논문지
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• 제12권2호
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• pp.152-160
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• 2017

Recent studies on automatic parking have actively adopted the technology developed for mobile robots. Among them, the path planning scheme plans a route for a vehicle to reach a target parking position while satisfying the kinematic constraints of the vehicle. However, previous methods require a large amount of computation and/or cannot be easily applied to different environmental conditions. Therefore, there is a need for a path planning scheme that is fast, efficient, and versatile. In this study, we use a multi-dimensional path grid map to solve the above problem. This multi-dimensional path grid map contains a route which has taken a vehicle's kinematic constraints into account; it can be used with the $A^*$ algorithm to plan an efficient path. The proposed method was verified using Prescan which is a simulation program based on MATLAB. It is shown that the proposed scheme can successfully be applied to both parallel and vertical parking in an efficient manner.

• 한국통신학회논문지
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• 제37C권12호
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• pp.1271-1280
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• 2012

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.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제12권3호
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• pp.226-231
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• 2012

Autoparking assistant systems are a new and very promising area in automotive systems engineering. Since the traffic in modern cities becomes more intense, it is getting harder for a driver. Those systems are necessary for an inexperienced one to find a proper parking slot, or to park in a narrow parking slot without damaging his car or the vehicles around. The implementation of autoparking assistant systems may reduce drivers' stress and make parking generally more comfortable. In addition, such system can be extremely useful for senior or disabled people or for drivers with reduced mobility. The implementation of autoparking assistant systems may increase the safety of the parking, and therefore the development of such systems is a highly-demanded task. We introduce an intelligent autoparking system that automatically generates trajectory for parking using a fuzzy logic. This paper consists of three parts. In first part we introduce trajectory generation method for parallel parking without collisions. Fuzzy-logic based trajectory generation algorithm is described in second part. Experimental results presented in the third part of the paper prove effectiveness of the proposed method.

• 한국정보통신학회논문지
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• 제16권2호
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• pp.266-272
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• 2012

본 논문에서는 차량 정보를 이용한 멀티뷰 주차 보조 시스템을 제안한다. 제안한 시스템은 운전자에게 차량 주변의 세 방향의 영상을 제공한다. 평행주차나 주차장에서 주차를 할 때 사각지역을 줄이고, 편안하고 안전한 주행을 위해 핸들 조정에 따라 와이드 앵글의 CCD 카메라 영상을 출력한다. 핸들 조향각과 기어 위치는 차량의 ABS ECU에서 OBD-II 포트를 통해 획득한다. 제안한 시스템은 차량 실험을 통해 성능을 확인하였다.

• 제어로봇시스템학회논문지
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• 제19권1호
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• pp.15-26
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• 2013

This paper proposes a classification method of parallel, vertical parking states and pillars for parking assist system using ultrasonic sensors. Since, in general parking space detection module, the compressed amplitude of ultrasonic data are received, the analysis of them is difficult. To solve these problems, in preprocessing state, symmetric transform and noise removal are performed. In feature extraction process, four features, standard deviation of distance, reconstructed peak, standard deviation of reconstructed signal and sum of width, are proposed. Gaussian fitting model is used to reconstruct saturated peak signal and discriminability of each feature is measured. To find the best combination among these features, multi-class SVM and subset generator are used for more accurate and robust classification. The proposed method shows 92 % classification rate and proves the applicability to parking space detection modules.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2011년도 춘계학술대회
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• pp.646-649
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• 2011

본 논문에서는 멀티-카메라 뷰 주차 보조 시스템을 위한 프로토타입을 제안한다. 제안한 시스템은 운전자에게 세방향의 차량 주변의 영상을 제공한다. 평행주차나 주차장에서 사각지역을 줄이고, 편안하고 안전한 주행을 위해 핸들 조정에 따라 와이드 앵글의 CCD 카메라 영상을 출력한다. 제안한 시스템은 차량 실험을 통해 성능을 확인하였다.