• 한국지능시스템학회:학술대회논문집
• /
• 한국지능시스템학회 2008년도 춘계학술대회 학술발표회 논문집
• /
• pp.219-222
• /
• 2008

무인자동차에 관한 연구가 활성화되면서 자율주행 차량에 대한 주차가 중요 과제로 대두되고 있다. 여기서는 경사 주차 공간에서 자율주행 차량이 지능적으로 주차할 수 있는 알고리즘을 제안하고자 한다. 차량의 진입과 경사 주차 공간 사이의 최적의 주차 경로를 설계하고, 이를 기반으로 퍼지논리 기반의 지능형 주차 과정을 시뮬레이션으로 제시한다.

• ETRI Journal
• /
• 제37권6호
• /
• pp.1220-1230
• /
• 2015

An autonomous valet parking (AVP) system is designed to locate a vacant parking space and park the vehicle in which it resides on behalf of the driver, once the driver has left the vehicle. In addition, the AVP is able to direct the vehicle to a location desired by the driver when requested. In this paper, for an AVP system, we introduce technology to recognize a parking space using image sensors. The proposed technology is mainly divided into three parts. First, spatial analysis is carried out using a height map that is based on dense motion stereo. Second, modelling of road markings is conducted using a probability map with a new salient-line feature extractor. Finally, parking space recognition is based on a Bayesian classifier. The experimental results show an execution time of up to 10 ms and a recognition rate of over 99%. Also, the performance and properties of the proposed technology were evaluated with a variety of data. Our algorithms, which are part of the proposed technology, are expected to apply to various research areas regarding autonomous vehicles, such as map generation, road marking recognition, localization, and environment recognition.

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

• 한국지능시스템학회논문지
• /
• 제18권1호
• /
• pp.109-115
• /
• 2008

무인자동차에 관한 연구가 활성화되면서 무인 주차 또한 중요한 과제로 대두되고 있다. 본 논문에서는 무인차랑을 위한 주차 편의 시스템 설계를 위하여 퍼지논리시스템에 의한 주차 알고리즘 설계를 제안하고자 한다. 기존의 논문들이 제시한 장단점을 분석하여 새로운 단일 입력을 가지는 퍼지논리시스템을 통한 주차 알고리즘을 설계하고, 시뮬레이션을 통하여 그 효용성을 확인하고자 한다.

• 한국지능시스템학회:학술대회논문집
• /
• 한국퍼지및지능시스템학회 2007년도 춘계학술대회 학술발표 논문집 제17권 제1호
• /
• pp.337-340
• /
• 2007

무인자동차에 관한 연구가 활성화되면서 무인 주차 또한 중요한 과제로 대두되고 있다. 본 논문에서는 무인 차량을 위한 주차 편의 시스템 설계를 위하여 퍼지논리시스템에 의한 주차 알고리즘을 설계하고자 한다. 기존의 논문들이 제시한 장단점을 분석하여 새로운 단순 구조 형태의 규칙표를 통한 주차 알고리즘을 설계, 구현하고, 시뮬레이션을 통하여 그 효용성을 확인하고자 한다.

• 한국지능시스템학회논문지
• /
• 제18권4호
• /
• pp.506-511
• /
• 2008

무인자동차에 관한 연구가 활성화되면서 자율주행 차량에 대한 주차가 중요 과제로 대두되고 있다. 여기서는 경사 주차 공간에서 자율주행 차량이 지능적으로 주차할 수 있는 알고리즘을 제안하고자 한다. 차량의 진입과 경사 주차 공간 사이의 최적의 주차 경로를 설계하고, 이를 기반으로 퍼지논리 기반의 지능형 주차 시스템을 설계한다. 설계한 시스템의 효용성을 확인하기 위하여 컴퓨터 시뮬레이션을 수행한다.

• 한국정밀공학회지
• /
• 제26권12호
• /
• pp.69-77
• /
• 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
• /
• 제15권2호
• /
• pp.147-159
• /
• 2020

Over the last years, a number of different path following methods for the autonomous parking system have been proposed for tracking planned paths. However, it is difficult to find a study comparing path following methods for a short path length with large curvature such as a parking path. In this paper, we conduct a comparative study of the path following methods for perpendicular parking. By using Monte-Carlo simulation, we determine the optimal parameters of each controller and analyze the performance of the path following. In addition, we consider the path following error occurred at the switching point where forward and reverse paths are switched. To address this error, we conduct the comparative study of the path following methods with the one thousand switching points generated by the Monte-Carlo method. The performance of each controller is analyzed using the V-rep simulator. With the simulation results, this paper provides a deep discussion about the effectiveness and limitations of each algorithm.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2008년도 추계학술대회 논문집
• /
• pp.483-484
• /
• 2008

• 한국기계가공학회지
• /
• 제12권1호
• /
• pp.70-76
• /
• 2013

Recently, the performance and function of electrical and electronic system in automotive vehicles is developing at a rapid rate with the advancement of IT technologies. Combined together with micro-controller and sensor technologies, the Vehicle Smart System (VSS) being developed to improve driver's convenience and comfort has been employed to a variety of applications. In addition to the convenience system, the Auto-parking Assistance System (AAS) that is now attracting a new attention has been already applied to some vehicles, but it is currently limited to luxury car models only. In this paper, we present a fuzzy controller that enables autonomous parking assistance without the AAS. The controller can perform the assistance with information provided from moving status, current position and steering angle as one is able to park a car based on his/her experience and knowledge for driving and parking. We have evaluated its performance of the proposed controller by simulation and tested the excellence of the controller by building a model vehicle embedded with the micro-controllers.