Design for System Architecture of Multiple AVPs with Fail-safe based on Dynamic Network

Fail-safe를 적용한 다수 AVP 차량 및 아키텍처 설계

  • Woo, Hoon-Je (Graduate School of Automotive Engineering, Kookmin University) ;
  • Kim, Jae-Hwan (Graduate School of Automotive Engineering, Kookmin University) ;
  • Sung, Kyung-Bok (Electronics and Telecommunications Research Institute) ;
  • Kim, Jung-Ha (Automotive Engineering, Kookmin University)
  • 우훈제 (국민대학교 자동차공학전문대학원) ;
  • 김재환 (국민대학교 자동차공학전문대학원) ;
  • 성경복 (한국전자통신연구원) ;
  • 김정하 (국민대학교 자동차공학과)
  • Received : 2012.03.26
  • Accepted : 2012.04.30
  • Published : 2012.06.01


This paper introduces an AVP (Automated Valet Parking) system which applies an autonomous driving concept into the current PAS (Parking Assistant System). The present commercial PAS technology is limited into vehicle. It means vehicle only senses and controls by and for itself to assist the parking. Therefore, the present PAS is restricted to simple parking events. But AVP includes wider parking events and planning because it uses infra-sensor network as well as vehicle sensor. For the realization of AVP, the commercial steering system of a compact vehicle was modified into steer-by-wire structure and various sensors like LRF (Long Range Finder) and camera were installed in a parking area. And local & global server decides where and when the vehicle can go and park in the testing area after recognized the status of environment and vehicle from those sensors. GPS solution was used to validate the AVP performance. More various parking situations, vehicles and obstacles will be considered in the next research stages based on these results. And we expect this AVP solution with more intelligent vehicles can be applied in a big parking lot like a market, an amusement park, etc.


Grant : 자동 발렛 파킹을 위한 센서기반 공간인지 및 자동주행기술개발

Supported by : 지식경제부


  1. H. J. Woo, S. H. Son, H. C. Moon, K. B. Sung, and J. H. Kim, "Design a test platform for automatic valet parking," Proceeding of KSAE 2011, pp. 1274-1279, May 2011.
  2. K. B. Sung, D. Y. Kwak, and D. S. Lim, "Vehicle Positioning using Roadside LiDARs," Proceeding of 2010 ISRS, pp. 86-89, Jan, 2010.
  3. H. C. Moon, H. J. Woo, and J. H. Kim, "Development of system architecture and communication protocol for unmanned ground vehicle," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 14, no. 9, pp. 873-880, Sep. 2008.
  4. Joint Architecture for Unmanned System (JAUS) Reference Architecture, Version 3.3, Part 1, Jun, 2007.
  5. Joint Architecture for Unmanned System (JAUS) Reference Architecture, Version 3.3, Part 2, Jun, 2007.
  6. H. J. Ahn, D. S. Lee, and S. C. Ahn, "OPRoS based fault tolerance support for reliability of service robots," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 16, no. 6, pp. 601-607, Jun 2010.
  7. T. H. Fang and J. W. Choi, "Optimal communication channel scheduling for remote control of lead vehicle in a platoon," Journal of Institute of Control, Robotics and Systems, vol. 9, no. 12, pp. 969-976, Dec. 2003.
  8. H. R. Everett, G. A. Gilbreath, and D. A. Ciccimaro, "An advaced telereflexive tactical response robot," vol. 11, no. 1, pp. 39-47, 2001.
  9. R. R. Faruque, "A JAUS toolkit for LabVIEW and a series of implementation case studies with recommendations to the SAE AS-4 standards committee," Thesis for Master of Science in Mechanical Engineering, Virginia, Polytechnic Institute and State University, 2006.
  10. C. Urmson, J. Anhalt, D. Bagnell, C. Baker, R. Bittner, M. N. Clark, J. Dolan, D. Duggins, T. Galatali, C. Geyer, M. Gittleman, S. Harbaugh, M. Herbert, T. M. Howard, S. Kolski, A. Kelly, M. Likhachev, M. McNaughton, N. Miller, K. Peterson, B. Pilnick, R. Rajkumar, P. Rybski, B. Salesky, Y. W. Seo, S. Singh, J. Snider, A. Stentz, W. Whittaker, Z. Wolkowicki, and J. Ziglar, "Autonomous driving in urban environments: boss and the urban challenge," Journal of Field Robotics Special Issue on the 2007 DARPA Urban Challenge, Part 1, vol. 25, no. 8, pp. 425-466, June 2008.