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--- Introduction:vialab [2023/02/10 13:59]
jaehyun
+++ Introduction:vialab [2024/02/15 06:51] (current)
hyjeong [Automated Valet Parking (AVP)]
@@ Line 20: / Line 20: @@
 == 3-D Object Detection ==
 We can also utilize deep neural networks to detect road objects based on LiDAR pointclouds. Using 128-CH Ouster LiDAR pointcloud as the input, the video (3 X speed) below shows the 3-D bounding boxes of vehicles, buses, motorcycles, and pedestrians. A self-driving vehicle can improve the accuracy and reliability of detecting road objects by the fusion of camera, LiDAR, and radar sensors.
-{{ :Introduction:lidar_object_detection.mp4?960x560 | LiDAR Object Detection}}
+{{ - :Introduction:lidar_object_detection.mp4?960x560 | LiDAR Object Detection}}
 == Vehicle Control by Joystick Maneuvers ==
@@ Line 30: / Line 30: @@
 Automated valet parking (AVP) is one of the scenarios that will be commercialized the fastest among various self-driving scenarios. It is also a promising self-driving technology that can be applied to the automated guided vehicles (AGVs) for the automation of smart factories and logistics warehouses.
-== Golfcart Platform ==
+== Golf Cart Platform ==
-We built the AVP golfcart platform that consists of a sensor module, comprising of a 64-channel LiDAR, an inertial navigation system (INS), and a braking pedal sensor, an information processing module inside the trunk, and a control module for steering and acceleration controls.
+We built the AVP golf cart platform that consists of a sensor module, comprising of a 64-channel LiDAR, an inertial navigation system (INS), and a braking pedal sensor, an information processing module inside the trunk, and a control module for steering and acceleration controls.
-{{ Gallery:golfcart.png?960x560 |Golfcart Platform}}
+{{ Gallery:golfcart.png?960x560 |Golf Cart Platform}}
 == Control Authority Switching ==
-In the manual driving mode, the driver requests parking through the AVP app, and then the golfcart switches to the self-driving mode. At an emergency situation during the self-driving mode, the control authority switching system allows the driver to press the braking pedal in order to immediately react to the emergency in the manual driving mode.
+In the manual driving mode, the driver requests parking through the AVP app, and then the golf cart switches to the self-driving mode. At an emergency situation during the self-driving mode, the control authority switching system allows the driver to press the braking pedal in order to immediately react to the emergency in the manual driving mode.
 {{ :Introduction:cas.mp4?960x560 | Control Authority Switching}}
 == SLAM for Electric Vehicle ==
-The core technology of self-driving is high-precision vehicle positioning. To this end, the AVP golfcart utilizes the 3-D LiDAR pointclouds and the inertial navigation system (INS) measurements. The AVP golfcart constructs a map of driving environments through the scan matching between LiDAR pointclouds and 3-D high-precision map, and simultaneously detects its real-time position through the <color #241ced>**simultaneous localization and mapping (SLAM)**</color> technology.
+The core technology of self-driving is high-precision vehicle positioning. To this end, the AVP golf cart utilizes the 3-D LiDAR pointclouds and the inertial navigation system (INS) measurements. The AVP golf cart constructs a map of driving environments through the scan matching between LiDAR pointclouds and 3-D high-precision map, and simultaneously detects its real-time position through the <color #241ced>**simultaneous localization and mapping (SLAM)**</color> technology.
 {{ :Introduction:EVL.mp4?960x560 | SLAM for Electric Vehicle}}
-== AVP Demo at PNU Campus ==
+=== AVP Demo at PNU Campus ===
-When the driver arrives at the entrance of parking lot via manual driving, and requests valet parking service using a smartphone AVP app, the golfcart creates a shortest path from the current position to the destination parking slot. The <color #241ced>**model predictive control (MPC)**</color> module determines the speed and steering of the golfcart during the self-driving. The video below demonstrates that our AVP golfcart can be parked successfully through self-driving at the PNU Jangjeon campus.
+AVP enables vehicles to automatically perform parking tasks without driver intervention, which includes finding a parking space within a designated area, navigating to the spot, and completing the parking maneuver within a designated parking slot.
-{{ :Introduction:avp_mini.mp4?960x560 | AVP Demo}}
+When the driver arrives at the entrance of parking lot via manual driving, and requests valet parking service using a smartphone AVP app, the golf cart creates a shortest path from the current position to the destination parking slot. The model predictive control (MPC) module determines the speed and steering of the golf cart during the self-driving. The video below demonstrates that our AVP golf cart can park successfully through self-driving at the PNU Jangjeon campus in an <color #241ced>**exclusive traffic**</color> scenario.
+{{ :Introduction:avp_et.mp4?960x560 | AVP Demo}}
+== AVP Demo with Mixed Traffic ==
+In a <color #241ced>**mixed traffic**</color> scenario, our AVP golf cart accurately perceives both stationary and dynamic objects in its surrounding environment, enabling it to generate safe paths and avoid collisions in real-time. This advanced capability allows the AVP golf cart to confidently navigate and park itself in unstructured parking areas with arbitrary traffic, eliminating the need for driver intervention.
+{{ :Introduction:avp_mt.mp4?960x560 | AVP with Mixed Traffic}}
 ==== Automated Guided Vehicles Control System (ACS) ====
-To coordinate the access of multiple AGVs to the shared resources, such as intersection, we are currently developing an <color #ed1c24>**open-source, platform-independent, and vendor-independent AGV control system (ACS)**</color> which will be actually deployed in a factory of [[https://www.swhitech.com |Sungwoo HiTech]] in March 2023.
+To coordinate the access of multiple AGVs to the shared resources, such as intersection, we are currently developing an <color #ed1c24>**open-source, platform-independent, and vendor-independent AGV control system (ACS)**</color> which has been actually deployed in a factory of [[https://www.swhitech.com |Sungwoo HiTech]] from December 2023.
-The hardware abstraction layer (HAL) of our ACS mitigates the protocol inconsistency over multi-vendor AGVs, and provide the unified protocol interface to the core modules of our ACS system. The video (2 X speed) below shows that our ACS can successfully coordinate the simultaneous access of [[https://www.meidensha.com/products/logistics/prod_01/index.html | Meidensha]] and [[https://www.aiki-tcs.co.jp/carrybee?lang=en | Aichi CarryBee]] AGVs at the intersection:
+The <color #ed1c24>**AGV abstraction layer (AAL)**</color> of our ACS mitigates the protocol inconsistency over multi-vendor AGVs, and provide the unified protocol interface to the core modules of our ACS system. The video (2 X speed) below shows that our ACS can successfully coordinate the simultaneous access of [[https://www.meidensha.com/products/logistics/prod_01/index.html | Meidensha]] and [[https://www.aiki-tcs.co.jp/carrybee?lang=en | Aichi CarryBee]] AGVs at the intersection:
 {{ :Introduction:agv_final.mp4?960x540 | ACS Traffic Coodination}}
+== ACS Deployment at Sungwoo HiTech ==
+Our ACS has been successfully deployed at a new production line of Sungwoo HiTech's Seo-Chang factory in December 2023. The ACS efficiently manages the flow of AGVs at intersections, optimizing scheduling and dispatching through integration with Sungwoo HiTech's Manufacturing Execution System (MES).
+{{ :Introduction:acs_seochang_factory.mp4?960x540 |ACS @ Seo-Chang}}
 === Non-Destructive In-Line Inspection for Smart Infrastructure ===

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