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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.