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Kim, Jai Hie
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3D Vision System for the Recognition of Free Parking Site Location

MANDO Corp.-Ho Gi Jung, Dong Suk Kim, Pal Joo Yoon
Yonsei Univ.-Jai Hie Kim
  • Technical Paper
  • 2005-03-0189
Published 2005-08-22 by Society of Automotive Engineers of Korea in South Korea
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.

Fault Tolerant Protocol for CAN Flash Programming

MANDO Corp.-Ho Gi Jung, Jea Young Hwang, Pal Joo Yoon
Yonsei Univ.-Jai Hie Kim
  • Technical Paper
  • 2005-03-0099
Published 2005-08-22 by Society of Automotive Engineers of Korea in South Korea
This paper proposes a fault tolerant protocol for CAN (Control Area Network) flash programming. Recently, the need of CAN flash programming is rapidly increasing because the number of installed ECU (Electronic Control Unit) increases noticeably and the adoption rate of CAN are very high. Although some development tool companies and semiconductor companies provide solutions, there are no standards for CAN flash programming until now. Furthermore, there is always a risk, when programming an application into flash memory using downloaded programming algorithms, that an external disturbance may corrupt the programming process. This paper suggests that the standards of CAN flash programming should include mechanism for the recovery from faults and certification process.Interaction diagram between host PC and ECU summarizes the messages and includes an additional phase for the certification of the CAN communication capability of ECU. The state diagram of ECU with respect to CAN flash programming is developed and includes additional states for the recovery from faults and the certification of CAN communication. Proposed protocol guarantees that ECU can be programmed via CAN without theā€¦
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Robust Solenoid Current Control For EHB

MANDO Corporation-Ho Gi Jung, Jea Young Hwang, Pal Joo Yoon
YONSEI University-Jai Hie Kim
Published 2005-04-11 by SAE International in United States
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.
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