Search Results

This paper proposes a parking assist system that fuses around view monitor (AVM) image, ultrasonic sensor, and in-vehicle motion sensor. The proposed system recognizes various types of parking slot markings using AVM image sequences and classifies occupancies of the detected parking slots using ultrasonic sensors. Once a desirable parking slot is selected by a driver, its position is continuously tracked by fusing AVM images and motion sensor-based odometry. Experimental results show that the proposed system can reliably detect and track various types of parking slot markings.

Lane keeping assistant system (LKAS) is expected to reduce the driver workload with assisting the driver during driving and is regarded as a promising active safety system. For the proposed LKAS which requires cooperative driving between driver and the assistance system, a Model Based Predictive Controller (MBPC) is proposed to minimize the effect of system overshoot caused by the time delay from the vision-based lane detection system. In order to validate the proposed LKAS controller, a HIL (Hardware In the Loop) simulator is built using steering mechanism, single camera, torque motor, sensors, etc. The performance of the proposed system is demonstrated in various roadways.

This paper discusses the market trends and advantages of a safety system integrating LKS (Lane Keeping System) and ACC (Adaptive Cruise Control), referred to as the LKS+ACC system, and proposes a method utilizing the range data from ACC for the sake of lane detection. The overall structure of lane detection is the same as the conventional method using monocular vision: EDF (Edge Distribution Function)-based initialization, sub-ROI (Region Of Interest) for left/right and distance-based layers, steerable filter-based feature extraction, and model fitting in each sub-ROI. The proposed method adds only the system for confining lane detection ROI to free space that is established by range data. Experimental results indicate that such a simple adaptive ROI can overcome occlusion of lane markings and disturbance of neighboring vehicles.

This paper presents semi-automatic parking assist system, which performs stereo vision based recognition of free parking site and parking guidance with automated steering operation. Pixel structure classification and feature based stereo matching extracts the 3D information of parking site. Parking site marking is separated by plane surface constraint and is transformed into bird's eye view, on which template matching is performed to determine the location of parking site. Obstacle depth map, which is generated from the disparity of adjacent vehicle can be used as the guideline of template matching by limiting the search range and the orientation. Proposed method using both the obstacle depth map and the bird's eye view of parking site marking increases the operation speed and the robustness to visual noise by effectively limiting the search range. Using this map information, geometrical relation is tested and efficient parking path is generated.

This paper describes a method for the estimation of solenoid resistance. With the estimated solenoid resistance, PWM duty ratio can be compensated to achieve a robust solenoid current control. Because EHB is a wet type BBW(Brake By Wire), HU(Hydraulic Unit) performs not only ABS/TCS/ESP functions but also CBS(Conventional Brake System) function. To implement the CBS function, HU must be able to control the wheel pressure in a wide temperature range and for a long duration. During the development of EHB, it is found that a change in solenoid resistance is a major disturbance to both current control and pressure control. Developed method uses a model for solenoid current and an iterative method for calculating the solenoid resistance. Furthermore, the effect of measurement noise can be eliminated by averaging. The proposed method can economically estimate the solenoid resistance and make current control and pressure control very robust with respect to temperature change and noise.