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김동석(Dongsuk Kim),정호기(Hogi Jung),최치권(Chigun Choi),윤팔주(Paljoo Yoon) 한국자동차공학회 2006 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
This paper describes parallel parking lot detection method using long range ultrasonic sensor. There are installed three sensors - ultrasonic sensor, steering angle sensor and wheel speed sensor in the proposed system. Ultrasonic sensor installed in rear-lateral side of vehicle is used to get parallel parking lot information. Steering angle sensor and wheel speed sensor installed in vehicle is used to get vehicle pose information for the localization of ultrasonic range data. In the proposed system, range data map of parallel parking lot can be generated with these sensors. This paper proposes two classes classification using real-time adaptive distance threshold algorithm. One is obstacle class, that means there exists parked vehicle and the other is free-space class, that means there is vacant space. With real time adaptive distance threshold, the proposed system can classify range data into two-classes efficiently that it can recognize free space in real-time. Simple template model, detects comer points of target parking lot. Furthermore, simple and cheap implementation of electric control unit for range data-based parallel parking lot detection system is possible due to the low computational complexity of proposed algorithm.
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.