• Journal of Drive and Control
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• v.13 no.1
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• pp.18-26
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• 2016

This research is conducted to develop an automatic steering system for parallel parking, and the performance of the system was evaluated by parallel parking a conventional vehicle. The automatic steering system consisted of MDPS (motor driven power steering) to control steering, ESC (electronic stability control) to acquire wheel speed, ultrasonic sensors to recognize the parking space, and a controller to communicate and handle data. The parallel parking process using the automatic steering control consisted of parking space recognition, parking path generation, and parking path tracking. The path for parallel parking was generated based on a kinematic model of a conventional vehicle, and a PI controller was used to control the steering angle for path tracking. Parallel parking using the automatic steering control was conducted according to vehicle speed conditions. The results show that the errors on the x-axis and y-axis were below 0.54 m and 0.14 m, respectively, and the error on the steering angle was less than $1^{\circ}$. Therefore, it is possible to implement parallel parking using an automatic steering control system for conventional vehicles.

• Proceedings of the KIEE Conference
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• 2005.05a
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• pp.78-80
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• 2005

The pattern recognition of automobile and parking line for the automatic car parking system was processed based on statistical method for reducing the processing time. The command of driving for parking at the vacant parking lot was transmitted from processor to motor driven actuator using direct sequence spread spectrum communication, which enables the multiple transmission in CAN(controller area network). The test-bed which has CCD camera, processor, radio transceiver and FPGA was implemented and demonstrated to be operated well.

• Journal of Korean Society of Transportation
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• v.32 no.5
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• pp.452-461
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• 2014

Conventional parking survey has been usually performed by a person, which has a lot of problems such as decreased mobility, data input error, longer time and expensiveness. Therefore, this study attempted to develop an automatic parking survey method using lately commercialized equipments that were highly efficient imagery interpretation equipments, GPS, and infrared lighting fixtures. In addition, this study developed a parking analysis software that enables to modify and save data, and analyze survey data by the automatic parking survey method. When parking survey is conducted using automatic parking survey method, surveying accuracy is influenced by the running speed of a surveying vehicle, the photographing angle of an imagery interpretation equipment, the gap between parking vehicles and the distance of a surveying vehicle to parking vehicles. Therefore, this study drew optimum conditions by testing on each items for accuracy improvement, and developed a parking analysis software for systematic storage and management of parking survey data, supporting the parking analysis and output the parking analysis result.

• International Journal of Automotive Technology
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• v.7 no.3
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• pp.361-367
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• 2006

This paper describes a novel stereo vision based localization of free parking site, which recognizes the target position of automatic parking system. Pixel structure classification and feature based stereo matching extract the 3D information of parking site in real time. The pixel structure represents intensity configuration around a pixel and the feature based stereo matching uses step-by-step investigation strategy to reduce computational load. This paper considers only parking site divided by marking, which is generally drawn according to relevant standards. 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 vehicles, can be used as the guideline of template matching by limiting search range and orientation. Proposed method using both the obstacle depth map and the bird's eye view of parking site marking increases operation speed and robustness to visual noise by effectively limiting search range.

• Proceedings of the KIEE Conference
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• 2007.04a
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• pp.373-376
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• 2007

As a part of automatic car parking, this paper have devised the distance measurement algorism using stereo vision system which measure between object and parking lot. In this simulation, laser pointer is used for detecting edge of designated object and real distance is measured by searching the position of laser pointer and measuring the distance. Which are 1 / 1.5 / 2 / 2.5 / 3m and adjusted correction had applied in order for use in car parking system.

• International Journal of Control, Automation, and Systems
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• v.6 no.3
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• pp.434-443
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• 2008

This paper develops a novel automatic parking algorithm based on a fuzzy logic controller with the vehicle pose for the input and the steering rate for the output. It localizes the vehicle by using only external sensors - a vision sensor and ultrasonic sensors. Then it automatically learns an optimal fuzzy if-then rule set from the training data, using an evolutionary fuzzy system. Furthermore, it also finds the green zone for the ready-to-reverse position in which parking is possible just by reversing. It has been tested on a 4-wheeled Pioneer mobile robot which emulates the real vehicle.

• Korean Journal of Artificial Intelligence
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• v.9 no.2
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• pp.29-34
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• 2021

In this paper, for efficient parking control, in an Arduino environment, an intelligent parking control prototype was implemented to provide parking control and parking guidance information using HC-SR2O4 and RC522. The main elements of intelligent parking control are vehicle recognition sensors, parking control facilities, and integrated operating software. Whether the vehicle is parked on the parking surface may be confirmed through sensor or intelligent camera image analysis. Parking control equipment products include parking guidance and parking available display devices, vehicle number recognition cameras, and intelligent parking assistance systems. This paper applies and implements ultrasonic sensors and RFID concepts based on Arduino, recognizes registered vehicles, and displays empty spaces. When a vehicle enters a parking space to handle this function, the automatic parking management system distinguishes the registered vehicle from the external vehicle through the RC522 sensor. In addition, after checking whether the parking slot is empty, the HC-SR204 sensor is displayed through the LED so that the driver can visually check it. RFID is designed to check the parking status of the server in real time and provide the driver with optimal route service to the parking slot.

• 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.

• Proceedings of the IEEK Conference
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• 2000.11a
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• pp.421-424
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• 2000

In this paper, We presented overview and characteristics of ITS(Intelligent Transport System) DSRC(Dedicated Short Range Communication) system that was introduced to the basic installation for ITS service and proposed system architecture and implementation methods to realize automatic collection of parking charge using DSRC system.

• Proceedings of the KSR Conference
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• 2009.05a
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• pp.452-456
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• 2009

This paper presents a method for precisely localizing and parking of bimodal trams. In order to gam an automatically driving system for bimodal trams, precise up-to-date localization, velocity recognition, distance to next station and precise parking location estimation functions are required. This paper proposes a system consisting of control device, steering device, sensor input equipment, driving system, tachometer, vehicle-side sensors, magnetic markers and magnetic sensors. The tram recognizes the precise location via magnetic markers containing information. Parking position and precise distance calculation is embodied by a tachometer. The vehicle-side sensors are used to assure safe station approaching and parking magnetic markers provide improvement of precision while tram parking. This paper provides a system realizing localization and precise parking and afterwards the automatic drive test results are reported and analyzed.