Browse Topic: Parking assistance

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EVOLUTION OF 360 DEGREE LOCAL SITUATIONAL AWARENESS (LSA) TO AID THE WARFIGHTER2024-01-345111/15/2024
ABSTRACT Northrop Grumman has developed a software and hardware solution to provide enhanced 360 degree local situational awareness (LSA) to enable the warfighter with an overmatch capability on today’s modern battlefield. The architecture exploits technological gains in cameras, video processing, and video compression. The approach allows rapid comprehension of local and remote situational views presented with operational relevance for a ground combat platform or tactical wheeled platform crew. The 360 Degree LSA approach provides direct visualization of relative positioning of targets, threats, and lines of fire; and additionally offers common situational understanding / operational picture from the dismounted soldier to higher echelon commands. The approach provides prioritized information through LSA software to provide an enhanced view to the warfighter whereas the squad leader becomes an integral part of the crew with a view of the common operating picture (mounted) and additional sensors on tablet or handheld device (dismounted via wireless). The approach uses a platform agnostic form factor with components that can be selected and applied to legacy or new platforms based on their size, weight, power, and mission constraints.
Viscovich, Christopher, Geoghegan, Susan, Worthy, David
A Semantic Slam System Based on Visual-Inertial Information and around View Images for Underground Parking Lot2021-01-00784/6/2021
As one of the most challenging driving tasks, parking is a common but particularly troublesome problem in large cities. Recently, an excellent solution-automated valet parking (AVP) has become a hot research topic, which allows the driver to leave the vehicle in a drop-off area, while the vehicle driving into the parking slot by itself. For AVP, the precise localization is an indispensable module. However, the global positioning system (GPS) cannot be used in the underground parking lot and the localization method based on lidar is too expensive. In response to solve this problem, we propose a simultaneous localization and mapping system with the semantic information of parking slots (PS-SLAM), which is based on visual-inertial and around view images. First, the calibration of multi-sensors is conducted to obtain their intrinsic and extrinsic parameters. In this way, the around view image and transformation matrices between sensors can be acquired. Then, the ORB-SLAM3 based on visual-inertial information is used to acquire the pose of the vehicle and sparse point cloud map. Next, the parking slot in the around view image is detected by the deep convolutional neural network (DCNN) model called VPS-Net. Finally, a parking-slot association method is devised to associate the detected parking slots with the point cloud map to generate a semantic map. The field experiments are conducted using a wire control chassis with 4 fisheye cameras, an inertial measurement unit (IMU), and a monocular camera. The results show that the proposed visual semantic SLAM system not only can achieve centimeter-level localization in the indoor parking lot but also generate a semantic map with parking slots.
LI, Wei, Li, Chaohui, Xiao, Dongjie, Zhou, Dong, Wang, Tao, Cao, Libo
Perceptions of Two Unique Lane Centering Systems: An FOT Interview Analysis2020-01-01084/14/2020
The goal of this interview analysis was to explore and document the perceptions of two unique lane centering systems (S90’s Pilot Assist and CT6’s Super Cruise). Both systems offer a similar type of functionality (adaptive cruise control and lane centering), but have significantly different design philosophies and HMI (Human-Machine Interface) implementations. Twenty-four drivers drove one of the two vehicle models for a month as part of a field operational test (FOT) study. Upon vehicle return, drivers took part in a 60-minute semi-structured interview covering their perceptions of the vehicle’s various advanced driver-assistance systems (ADAS). Transcripts of the interviews were coded by two researchers, who tagged each statement with relevant system and perception code labels. For analysis, the perception codes were grouped into larger thematic bins of safety, comfort, driver attention, and system performance. Perceptions of adaptive cruise control (ACC) were similar across vehicles. Almost all participants mentioned benefits of comfort and safety associated with ACC use. Participants cited different benefits between the two vehicle’s implementations of lane centering. A majority of participants (75%) described comfort benefits associated with Super Cruise, while less than half (41%) cited comfort benefits associated with Pilot Assist. Only a few participants (25%) mentioned safety benefits associated with Super Cruise. Half (50%) of the participants mentioned safety benefits associated with Pilot Assist. Almost all participants cited fears of potential misuse of the system in which drivers might pay less attention to the driving task. Results suggest that drivers’ comprehension and expectation of these systems’ behavior are strongly influenced by their design philosophies, specifically in terms of the difference in hands-on versus hands-off-wheel implementation. The perceived role of the driver – as either a fallback driver or as an assisted driver - may be influenced by the design implementation.
Landry, Steven, Seppelt, Bobbie, Russo, Luca, Mehler, Bruce, Angell, Linda, Gershon, Pnina, Reimer, Bryan
A Path Planning and Model Predictive Control for Automatic Parking System2020-01-01214/14/2020
With the increasing number of urban cars, parking has become the primary problem that people face in daily life. Therefore, many scholars have studied the automatic parking system. In the existing research, most of the path planning methods use the combined path of arc and straight line. In this method, the path curvature is not continuous, which indirectly leads to the low accuracy of path tracking. The parking path designed using the fifth-order polynomial is continuous, but its curvature is too large to meet the steering constraints in some cases. In this paper, a continuous-curvature parking path is proposed. The parking path tracker based on Model Predictive Control (MPC) algorithm is designed under the constraints of the control accuracy and vehicle steering. Firstly, in order to make the curvature of the parking path continuous, this paper superimposes the fifth-order polynomial with the sigmoid function, and the curve obtained has the continuous and relatively small curvature. Therefore, the superposition curve is used as a parallel parking path while the superposition curve and its inverse function curve are combined to form a perpendicular parking path. The coefficients of the superposition curve are calculated according to the constraint condition, the parking start point and end point. Thus, the parking path is determined.. Secondly, the vehicle kinematics model is established and a parking path tracker based on Model Predictive Control (MPC) algorithm is designed. Finally, the co-simulation analysis is performed using CarSim and Simulink. The simulation results show that the parking path curvature designed in this paper is continuous and the parking path tracker has a good tracking effect. The lateral error and longitudinal error can be controlled in the centimeter scale and the heading angle error is no more than 3°.
Meng, Xiangxi, Wu, Jian, He, Rui, Zhu, Bing, Zhao, Jian
Towards High Accuracy Parking Slot Detection for Automated Valet Parking System2019-01-506111/4/2019
Highly accurate parking slot detection methods are crucial for Automated Valet Parking (AVP) systems, to meet their demanding safety and functional requirements. While previous efforts have mostly focused on the algorithms’ capabilities to detect different types of slots under varying conditions, i.e. the detection rate, their accuracy has received little attention at this time. This paper highlights the importance of trustworthy slot detection methods, which address both the detection rate and the detection accuracy. To achieve this goal, an accurate slot detection method and a reliable ground-truth slot measurement method have been proposed in this paper. First, based on a 2D laser range finder, datapoints of obstacle vehicles on both sides of a slot have been collected and preprocessed. Second, the Density-Based Spatial Clustering of Applications with Noise (DBSCAN) algorithm has been improved to efficiently cluster these unevenly-distributed datapoints. After that, the Random Sample Consensus (RANSAC) algorithm has been improved to accurately fit the vehicles’ longitudinal contours. Finally, the candidate slot has been constructed and checked for its rationality. The final slot detection results have been defined in a way that contains both the slot size information and the slot relative position to the ego vehicle, which increases the requirement for detection accuracy. The performance of the proposed slot detection method has been verified on a test vehicle, and the experimental results show that the maximum errors in the detected slots under different conditions are 11.86 cm (position) and 3.35 deg (orientation).
Yang, Qinghua, Chen, Hui, Su, Junzhe, Li, Jie
The Sense-itive Side of Autonomous Vehicles19AVEP07_077/1/2019
BASF is exploring how specific materials-and even paint colors and finishes-can improve the capabilities of AV sensors. The sensing technologies needed for automated-driving vehicles are evolving as the industry moves toward high-level (SAE Level 4-5) automation. Sophisticated sensors already enable advanced driver-assistance systems (ADAS) features such as adaptive cruise control, park assist, lane-centering and others. But in order to meet the needs of high-level and conditional autonomy, sensors themselves need a technology-assist. Materials-science specialist BASF is enhancing the understanding of what materials may aid the sensing equation.
Buchholz, Kami
A Topological Map-Based Path Coordination Strategy for Autonomous Parking2019-01-06914/2/2019
This paper proposed a path coordination strategy for autonomous parking based on independently designed parking lot topological map. The strategy merges two types of paths at the three stages of path planning, to determinate mode switching timing between low-speed automated driving and automated parking. Firstly, based on the principle that parking spaces should be parallel or vertical to a corresponding path, a topological parking lot map is designed by using the point cloud data collected by LiDAR sensor. This map is consist of road node coordinates, adjacent matrix and parking space information. Secondly, the direction and lateral distance of the parking space to the last node of global path are used to decide parking type and direction at parking planning stage. Finally, the parking space node is used to connect global path and parking path at path coordination stage. After optimizing nodes and smoothing path utilizing a fourth-degree polar-polynomial function, those two types of paths can be merged without deviation. Experiments show that the proposed topological map-based path coordination strategy can effectively generate a feasible path to guide vehicle from the drop off zone to the desired parking space. The designed controller meets real-time requirements. At the same time, continuous curvature variation of path and steady speed can improve accuracy of path tracking.
Wang, Yongsheng, Jiang, Fachao, Luo, Yugong, Qi, Yunlong, Kong, Weiwei, Yang, E-chuan
Compound-Lens Camera for Industry and SmartphonesTBMG-3338412/1/2018
A process has been developed that enables the production of a 2-mm flat camera. The lens is partitioned into 135 tiny facets, similar to the eyes of an insect. The facetVISION camera is suitable for use in the automotive and printing industries, in medical engineering, and in smartphones.
Product Line Engineering for Basic Software of Automotive Embedded Systems2018-01-14574/3/2018
In the early 1980s, an oxygen sensor was applied to improve the fuel efficiency of automotive embedded systems. Currently, the complexity of software development has being increased due to the emergence of various requirements and the electronic control devices to ensure the safety and convenience of the driver. The high-performance hardware embedded in the ECU is a big issue for the automobile industry. OEMs, TIERs, tool providers, and the others are aiming at a variety of unit reusability, including software and hardware, based on the plug-and-play architecture concept. It is enhancing the quality attributes (safety, performance, real-time) of various perspectives. Furthermore, international standard process (ISO 26262, A-SPICE) does not provide a direct methodology for dealing with requirements refinement procedures, standard specification methods, and traceability of extracts. Although the area of the conventional basic software, which is the other area excluding the application in the entire software of the embedded system, was not subject to reuse unit in the past, the reusability of the basic software becomes important due to various backgrounds, including explosion, management of system variations. However, there is a lack of an efficient methodology for the reuse-based development process of the basic software throughout the international automotive industry. In this paper, we acquire and evaluate core assets through a feature-based product engineering approach to TCU, AWD, and SCU in HYUNDAI AUTRON Powertrain Control Systems. By introducing the application examples of new system development, we examine the effects of the basic software reusability.
Park, Joonhyun, Han, SeonMi
2021-12-29.TEST Development of Autonomous Driving System Using GNSS and High Definition Map2018-01-00364/3/2018
Recently, development of vehicle control system targeting Full Driving Automation (autonomous driving level 5) has advanced. Some applications of autonomous driving systems like the Lane Keeping Assist system (LKA) and Auto Lane Change system (ALC) (autonomous driving level 1-3) have been put on the market. However, the conventional system using information from front camera, it is difficult to operate in some situations. For example the road that no line, large curvature and number of lane increases or decreases. We propose an autonomous driving system using high accuracy vehicle position estimation technology and a high definition map. An LKA system calculates the target steering wheel angle based on both vehicle position information from the Global Navigation Satellite System (GNSS) and the target lane of high the definition map, according to the method of front gaze driver model. Then, the system controls steering the wheel angle by Electric Power Steering (EPS). In the case of ALC, a target lane-change path is generated based on information of the vehicle’s own lane and the next one. The proposed system solved the problem of the conventional method. Moreover, the developed method can operate more smoothly than the conventional one. Finally, we demonstrate that the proposed system enables the actual vehicle to operate LKA and ALC in the merged road of a test tracks.
Takeuchi, Yu, Hideyuki, Tanaka, Kazuo, Hitosugi, Tomoki, Uno
3D Auditory Displays for Parking Assistance Systems2017-01-96274/11/2017
The objective of this study was to investigate if 3D auditory displays could be used to enhance parking assistance systems (PAS). Objective measurements and estimations of workload were used to assess the benefits of different 3D auditory displays. In today’s cars, PAS normally use a visual display together with simple sound signals to inform drivers of obstacles in close proximity. These systems rely heavily on the visual display, as the sound does not provide information about obstacles' location. This may cause the driver to lose focus on the surroundings and reduce situational awareness. Two user studies (during summer and winter) were conducted to compare three different systems. The baseline system corresponded to a system normally found in today’s cars. The other systems were designed with a 3D auditory display, conveying information of where obstacles were located through sound. A visual display was also available. Both normal parking and parallel parking was conducted. Time taken for parking and the number of obstacles/curb hits were recorded. Participants answered a NASA TLX questionnaire after evaluating each PAS for estimation of their experienced workload. Most participants enjoyed the additional information provided by the 3D auditory displays. The winter trial showed a significant reduction in perceived effort when using a 3D auditory display compared to the baseline. The summer trial showed tendencies of higher mental demand and frustration with the baseline compared to the 3D auditory displays. The results suggest that 3D auditory displays can be appreciated and useful in difficult parking situations.
Lundkvist, André, Johnsson, Roger, Nykänen, Arne, Stridfelt, Jakob
Autonomous Driving — In a ‘Flash’TBMG-264753/1/2017
By combining CMOS technology with avalanche photodiodes, researchers at the Fraunhofer Institute for Microelectronic Circuits and Systems IMS (Duisburg, Germany) have developed a potentially cost-effective sensor prototype that aims to support driverless car applications. The “Flash LiDAR” could play a valuable role alongside the cameras, radars, and other components within autonomous vehicles.
Control for a Comfortable Ride in Reverse Driving with an Automated Parking System2016-01-01224/5/2016
In a system with which acceleration and braking by the driver are automated, a gap against the system can be felt when the timing of acceleration or deceleration is different from that intended by the driver or the extent of acceleration or deceleration exceeds an acceptable limit. For an automated system, it is important to realize a control that provides comfort and a sense of security for the driver. This paper is related to the technology that secures the ride comfort felt by the driver (comfort and a sense of security) within an appropriate range and presents a discussion of the technological means to improve the ride comfort from a viewpoint particularly related to longitudinal direction.
Yoshikawa, Tatsuya, Takahiko, Aoyagi, Ishiguro, Hiroshi
An Estimation Method of Vehicle Position for Automated Driving with GNSS2016-01-01664/5/2016
Accuracy of positioning with GNSS (Global Navigation Satellite System) has been improved in recent years. Especially in Japan, high accuracy GNSS service, QZSS (Quasi Zenith Satellite System), will start in 2018 and the first QZS, “MICHIBIKI” has been already launched. They will broadcast correction data which enhances GNSS performance and realize cm-order positioning. In this paper, we, Mitsubishi Electric develop the estimation algorithm of vehicle position and attitude and also adapt the algorithm to a test vehicle which can trace automatically the calculated path with EPS (Electric Power Steering) and high accuracy GNSS. Although the GNSS receiver calculates the longitude and latitude of the vehicle every second, it is not enough to control vehicle dynamics smoothly. So we estimate vehicle position and attitude of the vehicle with GNSS and vehicle sensors in high frequency. Using them, we calculate the target path as cubic function from road dot sequence in a body fixed coordinate. Target steering angle is decided with a look-ahead driver model and we control the EPS to turn the tires to trace the path. We test the automated driving vehicle which uses EPS, road map and GNSS with correction data from internet instead of QZSS. It can trace automatically the target course in our test course and achieve sub-meter accuracy.
Kitano, Hiroaki, Kazuo, Hitosugi, Tanaka, Hideyuki
Vehicle Perimeter Monitoring using Minimum Number of Sensors during Parking Maneuver2015-01-03094/14/2015
Parking assist systems have become very common in current vehicles. The purpose of such a system is to assist the driver to park the vehicle without collision. The sensors serve as eyes of the driver during parking maneuver by sensing any obstacle in the path. The parking sensors, typically ultrasonic sensors, are mounted on front and rear of vehicle to assist the driver to park the vehicle. Thus, such a system can cover only the front and rear portion of the vehicle and is unable to cover the side portions of the vehicle. This paper proposes a novel method to monitor the perimeter of a vehicle while parking using minimum sensors placed at strategic locations. A local map of the parking area is generated using data from sensors which helps in identifying static obstacles. The map is constantly updated in real time during parking. The algorithm ascertains that the entire perimeter of the vehicle is protected from impending collisions in real time. The algorithm takes into account vehicle parameters such as geometry (vehicle length & width), kinematics constraints (turning radius) and driver inputs(e.g. steering angle). This can also be applied in automatic parking for verifying the path generated before the vehicle starts the parking process.
Chatterjee, Mayurika, Rao, Atchyuta, Rajguru, Chaitanya
Vision Based Driver Alert System2012-01-04814/16/2012
Vision based systems using cameras are widely used in various industry verticals. The basic functionality of a vision system is to detect an object and then recognize it. In current automotive industry these systems are being used in applications like collision avoidance, intelligent cruise control, blind spot detection, parking assistance, identify pedestrians, etc. During driving conditions, 2 wheeler and 4 wheeler drivers are required to concentrate more on the road because of which they may tend to miss the traffic signs; more often during night times. The traffic signs can be one way, U-turn, right/left turn prohibited, bump ahead and etc. So there is a need for a system which detects, recognizes and intimates these signs to the driver. Extensive research is being carried out in the area of recognizing a traffic sign, but more focused research is done for a complex problem of detecting the sign in the real world environment. The proposed image processing algorithm for detection of the traffic signs in the recorded images from the camera helps the vision system to intimate through visible or audible alerts. Such an integration of the vision system with the vehicle keeps the driver informed about the traffic signs ahead, providing better driver assistance and safety.
Kumar C, Sunil, Srinivasaiah, Bhavani, Dhinagar, Jabez
Integrated Sensor System Framework for Enhanced Vehicle Safety2011-28-003710/6/2011
With improvements in electronics and integrated safety systems, modern day cars are much safer than their predecessors. Unfortunately, cost is a very strong driving factor, when it comes to installation of a multitude of these safety systems on mid and low-segment cars. In this paper, we propose a novel integrated system of sensors that are strategically arranged around a car in order to provide safety at a reasonable cost. This generic framework of sensors would assist the driver under various driving scenarios like collision warning (forward and rear), overtake assist, parallel parking assist and adaptive cruise control. An invention disclosure has been filed with the Patent Cooperation Treaty for this work [8].
Kutty, Krishnan K., Vaidya, Vinay G., Soni, Vijay, Joshi, Atul K.
Development of a Long-Range Ultrasonic Sensor for Automotive Application2008-01-09104/14/2008
In recent years, short-range sensors like stereo cameras, radar and infrared cameras have become essential components of safety systems and user-friendly convenience systems, such as pre-crash safety or parking assist systems. However, they are generally too expensive to implement on lower-end vehicles. On the other hand, a conventional backup-assistance sonar has a very small coverage area, but it is more cost effective than the above-mentioned sensors. This paper proposes an effective method to increase the range of detection of conventional sensor with the help of a pseudo-Wigner distribution-based likelihood function. The reflected wave detected by maximizing the p-WD-based likelihood function with respect to the parameter related to the time delay. This method is verified in actual experiment and the maximum detection range was found to be extended by about 2.5 times beyond that of the conventional approach.
Kamemura, Takafumi, Takagi, Hideo, Pal, Chinmoy, Ohsumi, Akira
Driver Performance Research Regarding Systems for Use While Backing2006-01-19823/1/2006
General Motors has pursued research to develop systems intended to assist drivers in recognizing people or objects behind them when they are backing, and this paper summarizes results from this research. We are currently working with ultrasonic rear parking assist systems, rear radar backing warning systems, and rear camera systems, which are briefly described and their utility for assisting drivers in recognizing people or objects behind them discussed. Our research on driver performance with a prototype long range backing warning system found that audible and visual warning combinations may not be effective in warning distracted drivers about unexpected objects. Driver expectancy is thought to play a significant role in this result. However, further research found drivers were more likely to notice an unexpected obstacle behind their vehicle with a prototype rear view video camera system compared to ultrasonic rear parking assist and trials that had no system. These results suggest that rear view video camera systems may provide limited benefit in some backing scenarios. While parking assist systems may assist drivers with parking tasks, they are not designed to be warning systems and may not effectively warn drivers of unexpected obstacles. We continue to pursue work with rear view video camera systems including integration with object detection sensors. We are also investigating automatic vehicle braking and haptic warning strategies for long range backing warning systems.
Green, Charles A., Deering, Richard K.
Rearview Camera Based Parking Assist System with Voice Guidance2002-01-07593/4/2002
A newly developed parking assist system, which is based on rear view camera, is disclosed. System features include ‘parallel parking aid’ with voice guidance message along with several guidelines superimposed onto the rear view camera image. Voice guide message helps driver understand appropriate timing for each procedure of parallel parking. The system was designed to let driver follow the system by voice message rather than visual guide information through the screen for safety reason. The guide algorism is designed under ‘two turns’ parking maneuvers so that required longitudinal parking space becomes minimal. A key development of this system, which is to design the guide algorism to avoid collision to adjacent vehicle during parallel parking operation, is also discussed in this paper. User can select either ‘parallel guide’ or ‘normal (such as garage parking)’ mode through touch screen switch on display surface. Wide field of view color camera gives sufficient viewing area for drivers. Our MPU based new control unit enables wide deployment of the system to any vehicle types by writing vehicle dependent data individually to nonvolatile memory in ECU fabrication line. This paper introduces the development of the technology and system features including some test results of the system function also.
Hiramatsu, Shoji, Hibi, Akihito, Tanaka, Yu, Kakinami, Toshiaki, Iwata, Yoshifumi, Nakamura, Masahiko
The Driving Need for Human Factors in the Car of the Future2000-01-30758/21/2000
The car of the future will be very different from that which we know today - no longer just a mechanical transportation device, but a mobile communications and entertainment platform providing many new functions and services to the occupants. The use of cellular telephones whilst driving is already a source of major concern and further legislation regarding phone usage will undoubtedly be forthcoming. The future will also add display based navigation, internet access, e-commerce and other location dependent services which will increase the drivers cognitive load. We will also see driver assistance systems such as adaptive cruise control, collision avoidance warnings and vision enhancement systems which will change the driving task and could potentially reduce cognitive load almost to the level of autopilot monitoring. As the nature of the in-vehicle activity therefore evolves from being a perceptual-motor driving task to that of a communications and vigilance task (set against a background of infotainment services) then we can not only anticipate emergent behaviors but will also see a new need for the management of multimodal information presentation to the driver according to his driving circumstances and indeed, personal preferences. Consequently driving could be as different from what we know today, as today is from the time of leather helmets and driving goggles. The aim of this presentation is to provide an overview of the major human factors and safety issues which these new systems are raising and which will be fundamental to their effective and safe use as well as to their commercial viability and success.
Wheatley, David J.
Lock Actuator Parkbrake - A New Concept in Disc Brake Parking Mechanisms8702572/1/1987
A new integral disc brake with an automatically adjusted parking mechanism has been developed which is based on the principle of a collar locking onto a shaft under an eccentric load. This mechanism is inherently self-adjusting and load insensitive. The resultant caliper offers good bleedability, serviceability, reliability, efficiency and flexibility to chassis designers.
Wang, N.
Traditional Design and New Developments in Lever Technology8507794/1/1985
Design technologies of traditional parking brake levers will be presented as a foreground for discussion of recent technological advances. The features and advantages of these advances in the area of lever adjustment will be explained.
Hooton, Bill
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