KR101362744B1 - Method of assisting park and apparstus performing the same - Google Patents

Method of assisting park and apparstus performing the same Download PDF

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Publication number
KR101362744B1
KR101362744B1 KR1020120118035A KR20120118035A KR101362744B1 KR 101362744 B1 KR101362744 B1 KR 101362744B1 KR 1020120118035 A KR1020120118035 A KR 1020120118035A KR 20120118035 A KR20120118035 A KR 20120118035A KR 101362744 B1 KR101362744 B1 KR 101362744B1
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South Korea
Prior art keywords
vehicle
parking
plurality
edge point
boundary trajectory
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KR1020120118035A
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Korean (ko)
Inventor
고향구
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현대오트론 주식회사
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Abstract

A method for assisting parking according to one embodiment of the present invention is performed by a device for assisting parking, wherein the device assists a user to park a vehicle in a space between obstacles. The method for assisting parking includes a step of generating a boundary trajectory between the vehicle and the obstacles by scanning the distance between the vehicle and the obstacles as the vehicle moves, a step of generating a plurality of divided areas by dividing a coordinate space generated around the reference point of the vehicle at a pre-movement location, and a step of determining an edge point using a boundary trajectory corresponding to a specific area among the divided areas. [Reference numerals] (110) Boundary trajectory generator; (120) Mode selection unit; (130) Wheel driving unit; (140) Warning sound generator; (150) Steering assistance control unit; (160) User interface unit

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a steering assist system,

Embodiments of the invention relate to a parking assist steering method and apparatus for implementing the same.

Generally, a driver parks in a parking lot when the vehicle is not in operation, and rotates the steering wheel provided in the vehicle at a predetermined angle toward a place partitioned in the parking lot, thereby parking the desired position. A normal driver feels more difficult to drive when parking the car than when driving, and feels more difficult when it is difficult to recognize objects around him such as at night.

Thus, parking vehicles are the most difficult part of a novice driver or female driver. The novice or female driver may require more attention and time to perform parallel or in-line parking using the vehicle than an experienced driver.

In addition, a novice driver or a female driver consumes a considerable amount of time to enter the parking position, and in a state in which the driver can not accurately recognize the surrounding objects at night, It requires careful attention.

In order to solve such a problem, a technique has been developed in which an ultrasonic sensor is incorporated into a vehicle, and a specific sound is emitted to the driver when a possible collision is detected by the ultrasonic sensor. However, the ultrasonic sensor has a problem that it is impossible to detect a collision possible situation if the distance between the vehicle and the obstacle is too close.

An embodiment of the present invention provides a parking assist steering method and a device for executing the same that can conveniently and accurately automatically park the vehicle even when the distance between the vehicle to be parked and the obstacle is very close.

The problems to be solved by the present invention are not limited to the above-mentioned problem (s), and another problem (s) not mentioned can be clearly understood by those skilled in the art from the following description.

In embodiments, the parking steering assist method is implemented in a parking steering aiding device that assists the vehicle to park in a parking space between a plurality of obstacles. The parking steering assistance method may include generating a boundary trajectory between the vehicle and the plurality of obstacles by scanning a distance between the plurality of obstacles and the vehicle according to the movement of the vehicle, wherein the vehicle is at the position before the movement. An edge point may be determined by dividing a generated coordinate space around a reference point of and generating a plurality of divided regions and using a boundary trajectory corresponding to a specific region among the plurality of divided regions.

In an example embodiment, the determining of an edge point of any one of the plurality of points may include a partition space including a boundary trajectory corresponding to an edge of an obstacle separated by a predetermined distance from the vehicle among the plurality of divided areas. The method may further include selecting.

In an embodiment, the determining of an edge point of any one of the plurality of points may include determining an edge point located at the rightmost side of the plurality of points forming a boundary trajectory corresponding to the divided space. It may further include.

In one embodiment, the parking steering assistance method may further comprise compensating for the position of the edge point according to the moving speed of the vehicle.

In an exemplary embodiment, the changing of the position of the edge point may include determining a compensation distance corresponding to a moving speed of the vehicle and determining a point on the left by the compensation distance about the edge point as the final edge point. It may further comprise the step.

In an embodiment, the parking steering assistance method may further include calculating a steering angle of a wheel in the vehicle using the edge point.

Among the embodiments, the parking steering assistance device assists the vehicle to be parked in the parking space between the plurality of obstacles. The parking steering assistance apparatus is configured to scan a distance between the plurality of obstacles and the vehicle according to the movement of the vehicle, and generate a boundary trace between the vehicle and the plurality of obstacles, and a position before the movement. A steering auxiliary control unit configured to generate a plurality of divided regions by dividing a coordinate space generated based on the reference point of the vehicle, and to determine an edge point by using a boundary trajectory corresponding to a specific region among the plurality of divided regions; do.

In an embodiment, the steering assistance controller may further include selecting a divided space including a boundary trajectory corresponding to an edge of an obstacle separated by a predetermined distance from the plurality of divided areas.

In an embodiment, the steering assist control unit may determine an edge point, which is the rightmost point among the plurality of points forming the boundary trajectory corresponding to the divided space.

In one embodiment, the steering assistance control unit may compensate for the position of the edge point according to the moving speed of the vehicle.

In an embodiment, the steering assistance control unit may determine a compensation distance corresponding to the moving speed of the vehicle, and determine a point that is left by the compensation distance around the edge point as the final edge point.

In an embodiment, the steering assist control unit may calculate a steering angle of a wheel in the vehicle using the edge point.

The details of other embodiments are included in the detailed description and the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and / or features of the present invention, and how to accomplish them, will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings. It should be understood, however, that the invention is not limited to the disclosed embodiments, but is capable of many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, To fully disclose the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

According to the embodiment of the present invention, the vehicle can be automatically parked automatically and conveniently even when the distance between the vehicle to be parked and the obstacle is very close.

1 is a block diagram illustrating a parking assist system according to an embodiment of the present invention.
2 is a flowchart for explaining an embodiment of a parking assist steering method according to the present invention.
3 and 5 are reference diagrams for describing an execution process of FIG. 2.
6 is a flowchart illustrating an embodiment of a parking steering assistance method according to the present invention.
FIG. 7 is a reference diagram for explaining an execution process of FIG. 6.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

A parking assist system according to an embodiment of the present invention is used to park a parking target vehicle in a space between a plurality of obstacles. Hereinafter, for convenience of explanation, the parked vehicles will be described as an example of a plurality of obstacles. However, the plurality of obstacles are not limited to vehicles that have been parked.

As used herein, the term “reference point” of a parked vehicle refers to an intersection point of a line segment connecting the centers of the rear wheels of the parked vehicle and a line segment connecting the center of the front bumper and the rear bumper.

1 is a block diagram illustrating a parking assist system according to an embodiment of the present invention.

Referring to FIG. 1, a parking assist system 100 according to an exemplary embodiment of the present invention is positioned inside a parking target vehicle (FIGS. 3 and 300) and is interlocked with other means of the parking target vehicle 300 Can be operated. The parking steering assistance apparatus 100 is disposed between the first vehicle (FIGS. 3 and 310) and the second vehicle (FIGS. 3 and 320) in a situation where other vehicles are parked horizontally (hereinafter referred to as “horizontal parking”). The parking target vehicle 300 may be assisted to be parked in the available parking space (hereinafter, referred to as “parking space”).

1, the parking assist system 100 includes a boundary trajectory generating unit 110, a mode selecting unit 120, a wheel driving unit 130, a warning sound generating unit 140, and a steering assist control unit 150 And may further include a user interface unit 160 according to an embodiment.

The boundary trajectory generating unit 110 generates a boundary trajectory between the parking target vehicle 300 and a plurality of obstacles.

The boundary trajectory generation unit 110 may receive distance information between the parking target vehicle 300 and the plurality of obstacles from different sensors according to the location of the parking space based on the parking target vehicle 300. In one embodiment, when the parking space is on the left side of the parking target vehicle 300, the boundary trajectory generation unit 110 may park the parking vehicle 300 and the plurality of obstacles from the left sensor of the parking vehicle 300. For example, distance information with respect to 310, 320, and 330 may be received. The boundary trajectory generating section 110 generates the boundary trajectory generating section 110 from the right sensor of the parking target vehicle 300 on the basis of the parking target vehicle 300 to the parking target vehicle 300 and a plurality of obstacles Can receive the distance information. Here, the sensor may be implemented by a method of sensing objects around the vehicle through a recognized image such as a camera, or may be implemented by a method of sensing objects around the object through ultrasound signals reflected from surrounding objects such as an ultrasonic sensor .

The boundary trajectory generation unit 110 may generate a boundary trajectory using distance information between the plurality of obstacles according to the movement of the parking target vehicle 300 and the parking target vehicle 300. The boundary trajectory generating unit 110 generates the boundary trajectory of the parking target vehicle 300 when the parking target vehicle 300 is advanced toward the second vehicle 320 across the parking space through the first vehicle 310 The boundary trajectory can be generated using the distance information between the plurality of obstacles received from the sensor of the parking target vehicle 300 and the obstacle. In another embodiment, the boundary trajectory generation unit 110 may park the vehicle to be parked when the vehicle to be parked 300 passes through the first vehicle 310 and crosses the parking space toward the first vehicle 310. The boundary trajectory may be generated by using a distance between the plurality of obstacles received from the sensor of 300 and the parking target vehicle 300.

The boundary trajectory generating unit 110 can generate different boundary trajectories according to the moving speed of the vehicle 300 to be parked. In one embodiment, the boundary trajectory generator 110 can generate a boundary trajectory with a small error range if the moving speed of the vehicle 100 to be parked is below a certain speed. Here, the separation distance between the boundary trajectory by the boundary locus generator 110 and the plurality of obstacles may be less than a specific distance. In another embodiment, the boundary trajectory generating unit 110 can generate a boundary trajectory having a large error range when the moving speed of the vehicle 100 to be parked is equal to or higher than a specific speed. Here, the separation distance between the boundary trajectory generated by the boundary trajectory generation unit 110 and the plurality of obstacles may be a specific distance or more.

In the following description, for convenience of description, the vehicle to be parked 300 advances toward the second vehicle 320 after passing through the first vehicle 310 across the parking space, and then moves backward in the vicinity of the second vehicle 320. It describes the process of moving to the parking space. However, the vehicle to be parked 300 advances toward the first vehicle 310 after passing through the second vehicle 320 and crosses the parking space, and then moves backward from the position close to the first vehicle 320 to move to the parking space. Can be.

The mode selection unit 120 may receive an input for at least one of parallel parking, vertical parking, and parallel departure from the driver and provide the input to the steering assist control unit 150. In one embodiment, the mode selection unit 120 may receive user input through the selection menu displayed on the screen. In another embodiment, mode selector 120 may receive user input via remote means.

The wheel driving unit 130 may drive the wheel so as to have the steering angle according to the instruction of the steering assist control unit 150. [ In one embodiment, the wheel may be a handle of the parked vehicle 300. The warning sound generating unit 140 generates a specific warning sound according to the collision possible situation. In one embodiment, the warning sound generating unit 140 may generate a warning sound corresponding to the distance if the distance between any one of the plurality of obstacles and the parking target vehicle 300 is less than a specific distance. For example, if the distance between the obstacle and the vehicle 300 to be parked is 30 cm, the warning sound generating unit 140 may generate a warning sound that is longer and longer than when the distance is 50 cm.

The steering assist control unit 150 may control the other components of the parking assist system 100 to automatically park the vehicle 300 to be parked.

The steering assist controller 150 may control the wheel driver 130 so that at least one of parallel parking and vertical parking may be performed according to the user's operation. For example, when the driver presses the horizontal parking menu among the menus displayed on the screen and releases his / her foot from the brake, the steering assist control unit 150 can control the horizontal parking of the vehicle 300 to be parked. For example, when the driver selects the vertical parking through the remote controller and releases the brake from the brake, the steering assist control unit 150 can control the vertical parking of the vehicle 300 to be parked to be started.

The steering assist control unit 150 can stop the parking target vehicle 300 according to the parking assist system.

In one embodiment, when the obstacle is detected by the sensor while the forward and backward movement of the parking target vehicle 300 is performed along the predetermined parking trajectory, the steering assist control unit 150 may stop forward and backward movement of the parking target vehicle 300 have. For example, if the distance from the obstacle by the sensor is 10 cm, the steering assist control unit 150 can stop forward and backward movement of the vehicle 300 to be parked. Here, the obstacle may be a stationary object, and may be a parked vehicle, a curb, or the like. The steering assistance controller 150 may calculate a steering angle of the wheel in the parking vehicle 300 according to the parking situation. .

In one embodiment, the steering assist controller 150 generates a divided area by dividing the generated coordinate space around the reference point of the parking subject vehicle 300 at the pre-movement position, and generates a boundary trajectory The steering angle of the wheel can be calculated using the boundary trajectory by the unit 110. Here, the steering assist control unit 150 selects a divided space including a boundary trajectory corresponding to the corner of the obstacle which is a predetermined distance from the parking target vehicle 300 among the plurality of divided areas, and selects a boundary corresponding to the divided space The steering angle of the wheel can be calculated using the locus. For example, the steering assist controller 150 may select a divided space including a boundary trajectory corresponding to an edge closest to the parking target vehicle 300 among the four corners of the second vehicle 320.

According to an embodiment, the steering assist control unit 150 may determine, as an edge point, a point located at the rightmost side among a plurality of points forming a boundary trajectory corresponding to the selected partition space. In one embodiment, the steering assistance control unit 150 may determine the compensation distance corresponding to the moving speed of the parking target vehicle 300, and determine a point left to the left by the compensation distance with respect to the edge point as the final edge point. . For example, the steering assistance controller 150 may determine the compensation distance as 10 cm when the moving speed of the parking target vehicle 300 is 30 km. For another example, the steering assistance controller 150 may determine the compensation distance as 1 cm when the moving speed of the parking target vehicle 300 is 10 km.

The steering assist control unit 150 can request a user operation according to the parking situation of the vehicle 300 to be parked. In one embodiment, the steering assist control section 150 may request the user to change the gear of the vehicle 300 to be parked. For example, when it is necessary to move backward toward the parking space after the parking target vehicle 300 is advanced by a specific distance, the steering assist control unit 150 instructs the user to change the gear of the parking target vehicle 300 from forward to reverse Can be requested.

The user interface unit 160 includes an input unit (not shown), a display unit (not shown), an audio processing unit (not shown), and a speaker (not shown). The input unit may include a plurality of input keys or may be implemented as a touch screen device coupled to the display unit. The input unit outputs the input signals including the automatic parking selection signal or the automatic exit selection signal to the mode selection unit 120 according to the user's input.

The display unit may display the parking assistant course of the vehicle 300 to be parked. In one embodiment, the display unit may display forward and backward movement of the parking subject vehicle 300 according to the parking trajectory. For example, when the vehicle 300 to be parked is backward according to the parking trajectory, the display unit may display the backward process of the vehicle 300 to be parked.

The audio processing unit can guide the voice through the speaker to the parking assistant course of the vehicle 300 to be parked. For example, the audio processing unit may voice the gear change request according to the parking situation of the parking target vehicle 300. [ In another example, the audio processing unit can guide the mode input request to the voice, and guide the voice to the execution of the mode corresponding to the user's selection.

Hereinafter, a parking assist steering method will be described with reference to Fig. Since the following description of the parking assist steering assist system is performed by the parking assist system 100, corresponding contents will not be described in duplicate, but those skilled in the art will appreciate from the foregoing description that an embodiment of a parking assist steering assist system .

2 is a flowchart for explaining an embodiment of a parking assist steering method according to the present invention. 3 and 5 are reference diagrams for describing an execution process of FIG. 2. The embodiment disclosed in FIG. 2 relates to an embodiment in which a vehicle to be parked can be moved to a parking space between a plurality of horizontally parked vehicles.

The parking steering assistance apparatus 100 scans a distance between the plurality of obstacles 310, 320, 330 and the parking target vehicle 300 as the parking target vehicle 300 moves, and scans the distance between the parking target vehicle 300 and the plurality of parking target vehicles 300. A boundary trajectory 340 is generated between the obstacles 310, 320, and 330 (step S210). The parking steering assistance apparatus 100 generates a plurality of divided regions by dividing the generated coordinate space around the reference point of the parking target vehicle 300a at the position before the movement (step S220). The parking steering assistance apparatus 100 determines an edge point by using a boundary trajectory corresponding to the specific area 350 among the plurality of divided areas (step S230). The parking steering assistance apparatus 100 determines the steering angle of the wheel in the parking target vehicle 300 by using the edge point (step S240).

In one embodiment of step S230, the parking steering assistance apparatus 100 includes a boundary trajectory corresponding to an edge of the second vehicle 320 spaced apart from the parking vehicle 300 among a plurality of divided areas by a predetermined distance. Partitions can be used. For example, the parking steering assistance apparatus 100 may detect a boundary trajectory corresponding to the corner at the closest distance among the four corners of the second vehicle 320 while the vehicle to be parked 300 is moved to the parking space. Including divided regions can be used. Here, the parking steering assistance apparatus 100 may determine a point 360 positioned at the rightmost side among the plurality of points forming the boundary trajectory corresponding to the corner, as the edge point.

6 is a flowchart illustrating an embodiment of a parking steering assistance method according to the present invention. FIG. 7 is a reference diagram for explaining an execution process of FIG. 6. The embodiment disclosed in FIG. 6 relates to an embodiment in which a vehicle to be parked can be moved to a parking space between a plurality of vehicles that are parked horizontally.

Referring to FIG. 6, the parking steering assistance apparatus 100 determines an edge point for calculating a steering angle of a wheel in the parking vehicle 300 (S610). The parking steering assistance apparatus 100 determines whether the moving speed of the parking target vehicle 300 is greater than or equal to a specific speed (step S620). If the moving speed of the parking target vehicle 300 is greater than or equal to a specific speed, the parking steering assistance apparatus 100 determines a compensation distance corresponding to the moving speed of the parking target vehicle 300 (step S630). The parking steering assistance apparatus 100 compensates for the position of the edge point by using the compensation distance corresponding to the moving speed of the parking target vehicle 300 (S640).

In one embodiment for step S640, the parking steering assistance device 100 is a point 380 on the left by a compensation distance 370 corresponding to the moving speed of the parking vehicle 300 around the edge point 360. Can be determined as the final edge point.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined by the scope of the appended claims and equivalents thereof.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, Modification is possible. Accordingly, the spirit of the present invention should be understood only in accordance with the following claims, and all equivalents or equivalent variations thereof are included in the scope of the present invention.

100: Parking Steering Assist Device
110: boundary trajectory generating unit
120: Mode selection unit
130:
140:
150: Steering assist control part
160: User interface section

Claims (12)

  1. A parking steering assist method performed in a parking steering assist apparatus assisting a vehicle to park in a parking space between a plurality of obstacles,
    Generating a boundary trajectory between the vehicle and the plurality of obstacles by scanning a distance between the plurality of obstacles and the vehicle as the vehicle moves;
    Generating a coordinate space based on a reference point of the vehicle at the position before the movement, and dividing the generated coordinate space to generate a plurality of divided regions; And
    Determining an edge point using a boundary trajectory corresponding to a specific region of the plurality of divided regions;
    Determining an edge point by using a boundary trajectory corresponding to a specific region of the plurality of divided regions
    Selecting a divided space including a boundary trajectory corresponding to an edge of an obstacle separated by a predetermined distance from the plurality of divided areas; And
    And determining, as an edge point, a point located to the right of a plurality of points forming a boundary trajectory in the divided space.
  2. delete
  3. delete
  4. The method of claim 1,
    And compensating for the position of the edge point according to the moving speed of the vehicle.
  5. The method of claim 4, wherein changing the position of the edge point is
    Determining a compensation distance corresponding to a moving speed of the vehicle; And
    And determining as a final edge point a point left by the compensation distance about the edge point.
  6. The method of claim 1,
    And calculating a steering angle of a wheel in the vehicle using the edge point.
  7. A parking assist steering apparatus assisting the vehicle to be parked in a parking space between a plurality of obstacles,
    A boundary trajectory generation unit configured to scan a distance between the plurality of obstacles and the vehicle and generate a boundary trajectory between the vehicle and the plurality of obstacles as the vehicle moves; And
    Generating a plurality of divided regions by dividing the coordinate space generated around the reference point of the vehicle at the position before the movement, and determining an edge point using a boundary trajectory corresponding to a specific region among the plurality of divided regions, Selecting a partition space including a boundary trajectory corresponding to the corner of the obstacle separated by a predetermined distance from the plurality of divided areas, and located on the rightmost side of the plurality of points forming the boundary trajectory corresponding to the partition space A parking steering assistance device comprising a steering assistance control for determining a point as an edge point.
  8. delete
  9. delete
  10. The steering assist control apparatus according to claim 7, wherein the steering assist control section
    Parking steering assistance device, characterized in that for compensating for the position of the edge point in accordance with the moving speed of the vehicle.
  11. 11. The steering apparatus according to claim 10, wherein the steering assist control section
    And determining a compensation distance corresponding to the moving speed of the vehicle, and determining a point left to the left by the compensation distance with respect to the edge point as the final edge point.
  12. The steering assist control apparatus according to claim 7, wherein the steering assist control section
    Parking steering assistance device, characterized in that for calculating the steering angle of the wheel in the vehicle using the edge point.
KR1020120118035A 2012-10-23 2012-10-23 Method of assisting park and apparstus performing the same KR101362744B1 (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9796381B2 (en) 2015-10-13 2017-10-24 Hyundai Motor Company Automatic parking assist system and method for operating the same

Citations (4)

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Publication number Priority date Publication date Assignee Title
JPH06274796A (en) * 1993-03-24 1994-09-30 Toyota Motor Corp Parking space detecting device
JP2002321581A (en) * 2001-04-26 2002-11-05 Toyota Motor Corp Parking method, parking support equipment, field of view displaying equipment, and steering equipment
KR20090125075A (en) * 2007-02-28 2009-12-03 코브라 오토모티브 테크놀로지즈 에스.피.에이. Semiautomatic parking machine
KR20120054879A (en) * 2010-11-22 2012-05-31 고려대학교 산학협력단 Method for planing collision avoidance path of car-like mobile robot and parking assist system using the same

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06274796A (en) * 1993-03-24 1994-09-30 Toyota Motor Corp Parking space detecting device
JP2002321581A (en) * 2001-04-26 2002-11-05 Toyota Motor Corp Parking method, parking support equipment, field of view displaying equipment, and steering equipment
KR20090125075A (en) * 2007-02-28 2009-12-03 코브라 오토모티브 테크놀로지즈 에스.피.에이. Semiautomatic parking machine
KR20120054879A (en) * 2010-11-22 2012-05-31 고려대학교 산학협력단 Method for planing collision avoidance path of car-like mobile robot and parking assist system using the same

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9796381B2 (en) 2015-10-13 2017-10-24 Hyundai Motor Company Automatic parking assist system and method for operating the same

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