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Yoon, Pal Joo
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Forward Sensing System for LKS+ACC

MANDO Corporation-Ho Gi Jung, Yun Hee Lee, Pal Joo Yoon
Yonsei University-Jaihie Kim
Published 2008-04-14 by SAE International in United States
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.
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Novel User Interface for Semi-Automatic Parking Assistance System

MANDO Corporation-Dong Suk Kim, Pal Joo Yoon
MANDO Corporation and Yonsei Univ.-Ho Gi Jung
  • Technical Paper
  • 2006-05-0044
Published 2006-10-22 by Society of Automotive Engineers of Japan in Japan
This paper proposes a novel user interface for semi-automatic parking assistance system, which automates steering handling during parking operation. In spite of recent progresses of automatic target position designation method, manual designation is supposed to have two important roles. First, manual designation can be used to refine the target position established by automatic designation method. Second, manual designation is necessary for the backup of automatic designation method. Proposed user interface provides an easy-to-use manual designation method based on drag & drop concept. Target position is depicted as a rectangle in touch-screen-based HMI (Human Machine Interface). Driver can move the rectangle by dragging the inside of rectangle. Driver can rotate the rectangle by dragging the outside of rectangle. We compare the proposed method with multiple-arrow-based method, which provides several arrow buttons to move and rotate target position, by measuring total operation time and clicking number. We can conclude that proposed method shortens the operation time and reduces the clicking number.
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Stereo Vision Based Parking Assist System

Mando Corporation-Chi Gun Choi, Dong Suk Kim, Ho Gi Jung, Pal Joo Yoon
Published 2006-04-03 by SAE International in United States
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. Desired steering angle data correspondent with wheel travel is transmitted to electric power steering via serial communication. This system was implemented on real passenger car and tested in practical parking situation.
Annotation ability available

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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