• Journal of the Korean Institute of Navigation
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• v.23 no.2
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• pp.1-9
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• 1999

A trailer truck is a major equipment for transporting containers, and its driving is difficult due to two degrees of freedom which exist in the joint part between truck and trailer. Especially Backing a trailer truck to a parking home is a difficult exercise for all but the most skilled truck drivers. Normal driving instincts lead to erroneous movements. When watching a truck driver backing toward a parking home, one often observes the driver backing, going forward, backing again, going forward, etc., and finally backing to the desired position along the parking home. This paper discusses the design of the controller to control the steering of a trailer truck while only backing up to a parking home from an initial position. In this paper, we propose a backing up control system for a container trailer truck using fuzzy theory where the primitive fuzzy control rules are macroscopically designed using an expert's knowledge, and the control rules are regulated by LIBL(Linguistic Instruction Based Learning) to enable to back up successfully the trailer tuck to a parking home from arbitrary initial position. The validity of the proposed parking control system is shown by applying it to some initial positions on the simulator for container trailer truck.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.3
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• pp.591-598
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• 2016

The final step of driving a car is parking, which is the most difficult part for people learning to drive. Parking in narrow parking spaces is difficult for both ordinary drivers and beginners. To solve this problem, the development of SPAS (Smart Parking Assist System), ACC (Automatic Control System) improves the convenience of drivers. In addition, parking assistance systems have been developed to recognize more accurately the surrounding environment to the driver using the ultrasound, camera, thermal camera, and radar. This paper proposes the reverse turning radius to process images as if the camera is located in the center of the vehicle regardless of the actual camera position. In addition, it generates the parking guidelines through verification using the vehicle.

• Journal of Positioning, Navigation, and Timing
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• v.12 no.4
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• pp.391-398
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• 2023

In this paper, we propose a Correction Dead Reckoning (CDR) solution using correction information such as Map Matching FeedBack (MMFB) in an underground parking lot. In order to correct position errors in an underground parking lot, vehicle position and heading errors are corrected using MMFB information in road link properties. The proposed method was applied to an in-vehicle navigation system and tested. The experimental results show that the proposed robust dead reckoning solution corrects Dead Reckoning (DR) position errors that occur when driving for a long time in an underground parking lot.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.6
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• pp.571-576
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• 2015

This paper proposes an auto-parking controller for omnidirectional mobile robots. The controller uses the multi-sensor system including ultrasonic sensor and camera. The several ultrasonic sensors of robot detect the distance between robot and each wall of the parking lot. The camera detects the global position of robot by capturing the image of artificial landmarks. To improve the accuracy of position estimation, we applied the extended Kalman filter with adaptive fuzzy controller. Also we developed the fuzzy control system to reduce the settling time of parking. The experimental results are presented to verify the usefulness of the proposed controller.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.5
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• pp.473-479
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• 2009

This paper proposes an efficient method to locate the automated guided vehicle (AGV) into a specific parking position using artificial visual landmark and vision-based algorithm. The landmark has comer features and a HSI color arrangement for robustness against illuminant variation. The landmark is attached to left of a parking spot under a crane. For parking, an AGV detects the landmark with CCD camera fixed to the AGV using Harris comer detector and matching descriptors of the comer features. After detecting the landmark, the AGV tracks the landmark using pyramidal Lucas-Kanade feature tracker and a refinement process. Then, the AGV decreases its speed and aligns its longitudinal position with the center of the landmark. The experiments showed the AGV parked accurately at the parking spot with small standard deviation of error under bright illumination and dark illumination.

• Journal of the Korean Society of Industry Convergence
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• v.9 no.3
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• pp.191-197
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• 2006

Prepare need in each branch for a large scale event. especially prepare for transportation problem is very important. most research for until at now parking prepare according city management however, parking prepare for large event is a necessity which it will parking characteristic. accordingly this research is conducted study for parking prepare subject of large event. this study result, vehicle demand for parking by stadium have many but vehicle demand for parking off stadium have few. accordingly large parking supply is ineffective. shuttle bus service in principal position of city is effective. study result showed that it included 85% parking at 6~7hour before large event start time. accordingly disposition time of parking manager is desirable 6~7hour before large event start time.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.8 no.1
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• pp.67-72
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• 2014

In this paper, we proposed A Study on Construction of Infrastructure for Handicapped Parking Areas Using RFID. This paper is Construction of the Handicapped Parking Areas infrastructure Using RFID with 900MHz band, and researched the optimal position of the tag attached on the vehicle and the location of RFID reader in order to raise the efficiency of RFID reader and the recognition rate by the handicapped vehicle. The result of research is shown the optimal position of RFID reader establishment when the height of RFID reader is 170cm in height and the angle of $80^{\circ}$ with the ground when the vehicle traveling direction of the antenna and the RFID reader when the surface and the angle of $90^{\circ}$ showed the best position RFID readers installed. Parking spaces for the disabled in accordance with these results the RFID readers installed and it works in conjunction with enforcement camera car tagged crackdown on vehicles and other general management, the system is built to allow handicapped parking spaces that meet the intent of the original purpose being used as expected to contribute significantly.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.16 no.2
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• pp.266-272
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• 2012

This paper presents a parking assistant system of multi-view using vehicle data. Proposed system provides the driver with three direction of the scenes surrounding vehicle. Depending on the handle rotation, the proposed system displays views from multiple wide-angle CCD cameras on the laptop screen to reduce blind spots, support smooth parallel or garage parking, and support comfortable and safe driving. The handle angle and gear position are obtained from ABS ECU through OBD-II port. The performance of proposed system is validated by vehicle experiments.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2007.06a
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• pp.331-335
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• 2007

Among the various application to use FRID, the parking control system widely uses it recently. However, it is rare for the existing systems to integrate several parking lot in the clustered shopping center. This paper proposes the integrated parking control system based on RFID. The system searches optimal path to parking lot with due regard to the position of users who own a tag and the status of parking lots. Then, it transmits the path to mobile devices of the users. The system consists of main server, middle ware to filter and manage tag information, parking lot client to send and manage the status of each parking lot and application module of mobile devices based on WIPI for displaying the optimal path. The main server integrates these components by a database and a new method to filters and manage tag information is newly proposed for the sake of maintaining the position and the direction of the cars in the middle ware. The implemented system shows that it is highly expected to be useful in an advanced integrated parking control system.

• Journal of the Institute of Convergence Signal Processing
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• v.6 no.4
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• pp.182-190
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• 2005

In the paper, we propose an intelligent automatic parking assist system. To realize an automatic parking, first, the prospective parking position and the location of a vehicle should be recognized. Second, the system should compute a path which introduces the parking position precisely with avoiding any obstacles. Third, the handle should be controlled so that the vehicle moves through the path. To calculate the location of the vehicle and its surroundings, the system applies the camera image method to transforming input images to the plane map. It also uses the inertial navigation method which recognizes the position and the direction of a moving vehicle by using a kinematic model of the vehicle. To generate a path of the vehicle, the simple path method and the Bezier spline method are tested. The divided arc method which generates multiple paths is also tested. We apply a method which makes the system choose the best path with multiple objective functions. We introduce the virtual road method, as a solution for the problem of mechanical time delay, to have the vehicle followed the designated path.