KR20050030802A - Parking assist system and controlling method thereof - Google Patents

Parking assist system and controlling method thereof Download PDF

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Publication number
KR20050030802A
KR20050030802A KR1020030067006A KR20030067006A KR20050030802A KR 20050030802 A KR20050030802 A KR 20050030802A KR 1020030067006 A KR1020030067006 A KR 1020030067006A KR 20030067006 A KR20030067006 A KR 20030067006A KR 20050030802 A KR20050030802 A KR 20050030802A
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South Korea
Prior art keywords
transmitting
pulses
sensor
transmission pulses
trailer
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KR1020030067006A
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Korean (ko)
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한창규
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한국델파이주식회사
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Priority to KR1020030067006A priority Critical patent/KR20050030802A/en
Publication of KR20050030802A publication Critical patent/KR20050030802A/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/002—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle
    • B60Q9/004—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors
    • B60Q9/006—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors using a distance sensor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/002—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle
    • B60Q9/007—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle providing information about the distance to an obstacle, e.g. varying sound
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/10—Road Vehicles
    • B60Y2200/11—Passenger cars; Automobiles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors
    • B60Y2400/301—Sensors for position or displacement

Abstract

A parking assist system and a control method thereof are provided to reduce an error according to excitation time of a sensor by setting differently the number of pulses for each sensor. A method for controlling front and rear parking assist systems comprising plural ultrasonic front and rear sensor units(210,212,213,214,215,216) mounted in the front and rear sides of a vehicle is composed of steps for checking an on-signal of a trailer and a backward gear when the vehicle speed is below a reference value; transmitting 6~7 transmitting pulses through the front sensor units when the backward gear and a trailer non-mounted signal are turned on; and transmitting variable pulses in order by transmitting 10 transmitting pulses through a first rear sensor unit and 6~7 transmitting pulses through a second rear sensor unit of the rear sensor units.

Description

주차보조 장치 및 그 제어 방법{Parking assist system and controlling method thereof} Parking assistance system and controlling method

본 발명은 초음파센서를 이용하는 주차보조 시스템(PAS)에 관한 것으로, 특히 센서별 펄스 수를 다르게 설정하여 센서 여진시간에 따른 오차를 감소시킨 주차보조시스템 및 그 제어방법에 관한 것이다.The present invention relates to a parking assist system (PAS) using an ultrasonic sensor, and more particularly, to a parking assist system and a control method thereof, by setting a different number of pulses for each sensor to reduce an error due to sensor excitation time.

통상적으로, 초음파센서를 이용하는 주차보조시스템은 널리 이용되고 있다. 그러나, 종래기술에 따른 주차보조시스템은 구현하는 방법마다 성능이나 감지 영역이 다르고 그에 따른 문제점을 갖는다. 예를 들면, 센서모듈이 장애물 가까이에 있을 때(30cm이하), 근거리(30cm 이하)에서 주차장에 진입하는 경우에 문제가 발생하게된다. 이러한 문제가 발생하는 것은 센서 여진시간에 따라 탐지하는 거리가 10~20cm 차이가 나기 때문이다. 따라서 센서의 여진 시간을 효율적으로 컨트롤하는 것이 필요하다.In general, parking assistance systems using ultrasonic sensors are widely used. However, the parking assistance system according to the prior art has a problem in that the performance or the detection area is different for each implementation method. For example, when the sensor module is near an obstacle (30 cm or less), a problem occurs when entering a parking lot at a short distance (30 cm or less). This problem occurs because the detection distance differs by 10 ~ 20cm according to the sensor excitation time. Therefore, it is necessary to efficiently control the excitation time of the sensor.

따라서 본 발명의 목적은 상기한 종래 기술의 문제점을 해결하는 장치 및 방법을 제공함에 있다.It is therefore an object of the present invention to provide an apparatus and method for solving the above problems of the prior art.

본 발명의 다른 목적은 여진시간을 최대한 단축하여 PAS시스템을 제어하는 방법을 제공함에 있다. Another object of the present invention to provide a method for controlling the PAS system by reducing the aftershock as much as possible.

상기와 같은 본 발명의 목적들을 달성하기 위한 본 발명은The present invention for achieving the objects of the present invention as described above

차량의 전방에 설치되는 복수의 초음파 전방센서부들과, 차량의 후방에 설치되는 복수의 초음파 후방센서부들을 포함하는 전후방 주차보조 시스템의 제어 방법에 있어서,In the control method of the front and rear parking assistance system comprising a plurality of ultrasonic front sensor units installed in the front of the vehicle, and a plurality of ultrasonic rear sensor units installed in the rear of the vehicle,

차속이 소정 기준속도 이하가 되면, 후진기어 및 트레일러 온신호를 체크하는 과정과; 후진기어 및 트레일러 미장착 신호가 둘다 온 신호가 발생하면, 상기 전방센서부들을 통해 6내지7개의 송신펄스를 송신하는 과정과; 상기 복수의 후방센서부들중 제1후방센서부를 통해 10개의 송신펄스를, 제2후방센서부를 통해 6내지7개의 송신펄스를 송신하여, 순차적으로 가변펄스를 송신하는 과정을 포함한다.Checking the reverse gear and the trailer on signal when the vehicle speed falls below a predetermined reference speed; Transmitting six to seven transmission pulses through the front sensor unit when a signal of both the reverse gear and the trailer-free signal is generated; And transmitting 10 to 7 transmission pulses through the first rear sensor unit and 6 to 7 transmission pulses through the second rear sensor unit, and sequentially transmitting the variable pulses.

이하 본 발명의 바람직한 실시예의 상세한 설명이 첨부된 도면들을 참조하여 설명될 것이다. 도면들 중 참조번호들 및 동일한 구성요소들에 대해서는 비록 다른 도면상에 표시되더라도 가능한 한 동일한 참조번호들 및 부호들로 나타내고 있음에 유의해야 한다. 하기에서 본 발명을 설명함에 있어, 관련된 공지 기능 또는 구성에 대한 구체적인 설명이 본 발명의 요지를 불필요하게 흐릴 수 있다고 판단되는 경우에는 그 상세한 설명을 생략할 것이다. DETAILED DESCRIPTION A detailed description of preferred embodiments of the present invention will now be described with reference to the accompanying drawings. It should be noted that reference numerals and like elements among the drawings are denoted by the same reference numerals and symbols as much as possible even though they are shown in different drawings. In the following description of the present invention, if it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the subject matter of the present invention, the detailed description thereof will be omitted.

본 발명의 원리는 전후방에 대한 여진 시간을 달리 주어 탐지거리를 효율적으로 하는 것으로, 전방센서에는 송신 신호 펄스를 6~7개를 주어 10개를 보냈을 때 여진시간이 1.5ms(25cm)인 시간을 단축함으로써, 감지거리(15cm)를 짧게한다. 송신펄스가 짧으면, 최대 탐지거리는 줄어든다. 그러나 전방의 경우 탐지거리가 짧아도 크게 문제되지 않고, 후방의 센서들은 10 ~ 15개의 송신펄스를 주어 최대 탐지거리를 150cm 정도로 한다. 이때, 후방의 센서들은 가변적인 송신방법을 이용하여 처음 센서는 10개, 순차적으로 두번째는 6~7개, 세번째는 10개, 네번째는 6~7개의 펄스를 송신하도록 제어한다. 이러한 순차적인 가변펄스 제어를 통해 종래기술에 따른 문제를 해결할 수 있다. 그리고 한번의 루프 타임은 40ms로 하여 이 시간 전방감지완료 및 후방 첫번째 감지완료, 전체 감지타임을 160ms로 하는 것이 바람직하다.The principle of the present invention is to make the detection distance more efficient by varying the excitation time for the front and rear, the time when the forward sensor has the excitation time is 1.5ms (25cm) when 10 are given to 6-7 signal pulses. By shortening, the sensing distance (15cm) is shortened. If the transmission pulse is short, the maximum detection distance is reduced. However, in the case of the front, even if the detection distance is short, it does not matter much, and the sensors in the rear give 10 to 15 transmission pulses, so that the maximum detection distance is about 150cm. In this case, the rear sensors control the first sensor to transmit 10 pulses, the second to 6-7, the third to 10, and the fourth to 6-7 using a variable transmission method. This sequential variable pulse control can solve the problem according to the prior art. It is preferable that one loop time is set to 40ms so that forward sensing completion, rear first sensing completion, and total sensing time are 160ms.

도 1은 본 발명의 실시예에 따른 주차보조 장치를 구비하는 차량의 개략적인 구성을 보여주는 도면이다.1 is a view showing a schematic configuration of a vehicle having a parking assistance apparatus according to an embodiment of the present invention.

상기 도 1을 참조하면, 전방의 2개 센서(A,B)는 전진 시 및 후진 시에도 작동하며, 후방의 4개센서(C)들은 후진 및 트레일러 미 장착시에만 작동한다. 그리고 시스템제어모듈은 차속 정보, 트레일러 장착 식별신호, 온/오프 S/W 신호, 후진기어신호 및 전원을 입력 받으며, 출력으로 전방/후방에 따라 각기 다른 소리의 경보음을 발생시킨다.Referring to FIG. 1, the two sensors A and B in the front operate also at the forward and the reverse, and the four sensors C at the rear operate only when the reverse and the trailer are not mounted. The system control module receives vehicle speed information, trailer mounted identification signal, on / off S / W signal, reverse gear signal and power, and outputs an alarm sound according to the front / rear as output.

도 2는 본 발명의 실시예에 따른 주차보조 시스템의 제어장치를 보여주는 도면이다. 이하 상기 도 2를 참조하여 설명한다.2 is a view showing a control device of the parking assistance system according to an embodiment of the present invention. A description with reference to FIG. 2 is as follows.

전방센서부들(210,212)은 차량의 전방에 설치되며 초음파를 송신하고 물체에 맞고 반사된 초음파를 수신한다. 후방센서부들(213,214,215,216)은 차량의 후방에 설치되며 초음파를 송신하고 물체에 맞고 반사된 초음파를 수신한다. 시스템 제어모듈은 미리 설정된 프로그램에 따라 상기 전방센서부들(210,212)과 후방센서부들(213,214,215,216)을 제어하고, 이상감지 시 디스플레이 및 경보음발생부(240)를 동작시킨다.The front sensor parts 210 and 212 are installed in front of the vehicle and transmit ultrasonic waves and receive ultrasonic waves reflected on the object. The rear sensor units 213, 214, 215, 216 are installed at the rear of the vehicle and transmit ultrasonic waves, and receive ultrasonic waves reflected on the object. The system control module controls the front sensor parts 210 and 212 and the rear sensor parts 213, 214, 215 and 216 according to a preset program, and operates the display and the alarm sound generator 240 when an abnormality is detected.

상기 시스템제어모듈은 차속 정보, 트레일러 장착 식별신호, 온/오프 S/W 신호, 후진기어신호 및 전원을 입력받는 마이컴과, 상기 마이컴(220)과 복수의 센서부들(210~216)을 연결하는 멀티인터페이스부(220)를 포함하여 구성된다.The system control module connects the microcomputer to receive vehicle speed information, a trailer mounting identification signal, an on / off S / W signal, a reverse gear signal, and a power supply, and connects the microcomputer 220 to the plurality of sensor units 210 to 216. It is configured to include a multi interface unit 220.

상기 마이컴(220)은 차속이 소정 기준속도 이하가 되면, 후진기어 및 트레일러 온신호를 체크하고, 후진기어 및 트레일러 미장착 신호가 둘다 On 신호가 발생하면, 상기 전방센서부들(210,212)을 통해 6내지7개의 송신펄스를 송신한다. 이후, 상기 복수의 후방센서들(213 ~ 216)중 제1후방센서(213)를 통해 10개의 송신펄스를, 제2후방센서(214)를 통해 6내지7개의 송신펄스를 송신하여, 순차적으로 상기 초음파센서들을 제어한다.The microcomputer 220 checks the reverse gear and the trailer on signal when the vehicle speed is lower than the predetermined reference speed, and when the reverse gear and the trailer-free signal are both on, the microcomputer 220 passes through the front sensor parts 210 and 212. Send seven transmission pulses. Thereafter, 10 transmission pulses are transmitted through the first rear sensor 213 among the plurality of rear sensors 213 to 216, and 6 to 7 transmission pulses are transmitted through the second rear sensor 214, and sequentially. The ultrasonic sensors are controlled.

도 3은 본 발명의 실시예에 따른 전후방 주차보조 시스템의 제어방법을 보여주는 흐름도이다. 상기 도 3에 도시된 제어과정은 시스템제어모듈에서 수행된다.3 is a flowchart illustrating a control method of a front and rear parking assist system according to an exemplary embodiment of the present invention. The control process shown in FIG. 3 is performed by the system control module.

300단계 내지 312단계에서, 마이컴(220)과 전체 시스템이 초기화된다. 314단계에서, 전후방 센서부들(210~216)의 이상여부를 체크하고, 이상 시에는 316단계에서 경보음을 발생한다. 센서부들이 정상인 경우, 318단계 이후부터 메인루틴을 수행한다.In steps 300 to 312, the microcomputer 220 and the entire system are initialized. In step 314, the front and rear sensor units 210 to 216 are checked for abnormality, and when an error occurs, an alarm sound is generated in step 316. If the sensor units are normal, the main routine is performed after step 318.

320단계에서, S/W는 운전자가 상황에 따라 전후방 주차보조 시스템을 활성화 할지 말지를 체크하며, 운전자가 시스템 활성화 선택하고 차속이 소정 기준속도(10km 이하)가 되면, 330단계에서 스피커(240)를 온 시킨다. 운전자가 시스템의 비활성을 선택하거나, 차속이 상기 기준속도 이상인 경우, 325단계에서 시스템은 오프 된다.In step 320, the S / W checks whether or not the driver activates the front and rear parking assist system according to the situation. Turn on. If the driver selects inactivity of the system or if the vehicle speed is above the reference speed, the system is turned off in step 325.

이후, 340단계에서, 후진기어 및 트레일러 온 신호를 체크한다. 후진기어 및 트레일러 미장착 신호가 둘다 온 신호가 발생하면, 350단계에서 전방 및 후방 센서부들의 작동을 온 시킨다. 다음에 352 내지 370단계에서, 상기 전방센서부들(210,212)을 통해 6내지7개의 송신펄스를 송신하고, 상기 복수의 후방센서들중 제1후방센서(213)를 통해 10개의 송신펄스를, 제2후방센서(214)를 통해 6내지7개의 송신펄스를 송신하여, 순차적으로 가변펄스를 송신한다. 그 다음에 375단계와 380단계에서 센서송수신 루틴과 거리 계산 및 기타 신호처리를 수행한다. 390단계에서, 상술한 바와 같이 대기시간 40ms를 주어 전체 감지 시간이 160ms가 되도록 한다.In operation 340, the reverse gear and the trailer on signal are checked. If both the reverse gear and the non-trailer signal are turned on, the operation of the front and rear sensor parts is turned on in step 350. Next, in steps 352 to 370, six to seven transmission pulses are transmitted through the front sensor parts 210 and 212, and ten transmission pulses are transmitted through the first rear sensor 213 among the plurality of rear sensors. The two rear sensors 214 transmit six to seven transmission pulses, and sequentially transmit variable pulses. In step 375 and 380, the sensor transmit / receive routine, distance calculation and other signal processing are performed. In step 390, the wait time is 40ms as described above so that the total detection time is 160ms.

상기 340단계에서, 후진기어 및 트레일러 미장착 신호 중 어느 한개라도 온 신호가 발생하지 않으면, 345단계에서 후방센서부들(213~216)의 작동은 오프시키고, 전방센서부들(210,212)만 작동하도록 제어한다.In step 340, if any of the reverse gear and the trailer-free signal is not turned on, the operation of the rear sensor parts 213 to 216 is turned off and only the front sensor parts 210 and 212 are operated in step 345. .

한편 본 발명의 상세한 설명에서는 구체적인 실시 예에 관해 설명하였으나, 본 발명의 범위에서 벗어나지 않는 한도 내에서 여러가지 변형이 가능함은 물론이다. 그러므로 본 발명의 범위는 설명된 실시 예에 국한되어 정해져서는 안되며 후술하는 특허청구의 범위뿐만 아니라 이 특허청구의 범위와 균등한 것들에 의해 정해져야 한다. Meanwhile, in the detailed description of the present invention, specific embodiments have been described, but various modifications may be made without departing from the scope of the present invention. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined not only by the scope of the following claims, but also by the equivalents of the claims.

상술한 바와 같이 본 발명은 센서별 펄스 수를 다르게 설정하여 센서 여진시간에 따른 오차를 감소시켜 효율적인 주차보조 시스템을 제공한다.As described above, the present invention provides an efficient parking assistance system by setting the number of pulses for each sensor differently to reduce the error caused by the sensor excitation time.

도 1은 본 발명의 실시예에 따른 주차보조 장치를 구비하는 차량의 개략적인 구성을 보여주는 도면,1 is a view showing a schematic configuration of a vehicle having a parking assistance apparatus according to an embodiment of the present invention,

도 2는 본 발명의 실시예에 따른 주차보조 시스템의 제어장치를 보여주는 도면,2 is a view showing a control device of the parking assistance system according to an embodiment of the present invention,

도 3은 본 발명의 실시예에 따른 전후방 주차보조 시스템의 제어방법을 보여주는 흐름도이다.3 is a flowchart illustrating a control method of a front and rear parking assist system according to an exemplary embodiment of the present invention.

Claims (3)

차량의 전방에 설치되는 복수의 초음파 전방센서부들과, 차량의 후방에 설치되는 복수의 초음파 후방센서부들을 포함하는 전후방 주차보조 시스템의 제어 방법에 있어서,In the control method of the front and rear parking assistance system comprising a plurality of ultrasonic front sensor units installed in the front of the vehicle, and a plurality of ultrasonic rear sensor units installed in the rear of the vehicle, 차속이 소정 기준속도 이하가 되면, 후진기어 및 트레일러 온신호를 체크하는 과정;Checking the reverse gear and the trailer on signal when the vehicle speed falls below a predetermined reference speed; 후진기어 및 트레일러 미장착 신호가 둘다 온되면, 상기 전방센서부들을 통해 6내지7개의 송신펄스를 송신하는 과정; 및Transmitting six to seven transmission pulses through the front sensor unit when both the reverse gear and the trailer-free signal are turned on; And 상기 복수의 후방센서부들중 제1후방센서부를 통해 10개의 송신펄스를, 제2후방센서부를 통해 6내지7개의 송신펄스를 송신하여, 순차적으로 가변펄스를 송신하는 과정;을 포함함을 특징으로 하는 상기 제어방법.And transmitting the variable transmission pulses sequentially by transmitting 10 transmission pulses through the first rear sensor unit and 6 to 7 transmission pulses through the second rear sensor unit among the plurality of rear sensor units. The control method. 제1항에 있어서, The method of claim 1, 후진기어 및 트레일러 미장착 중 어느 한개라도 온 신호가 발생하지 않으면, 상기 전방센서들을 통해 6내지7개의 송신펄스를 송신하고, 상기 후방센서들은 오프 시키는 과정을 더 포함함을 특징으로 하는 상기 제어방법.And if at least one of the reverse gear and the trailer is not mounted, transmitting 6 to 7 transmission pulses through the front sensors, and turning off the rear sensors. 차량의 전방에 설치되며 초음파를 송수신하는 복수의 초음파 전방센서부들;A plurality of ultrasonic front sensor units installed at the front of the vehicle to transmit and receive ultrasonic waves; 차량의 후방에 설치되며 초음파를 송수신하는 복수의 초음파 후방센서부들; 및A plurality of ultrasonic rear sensor units installed at the rear of the vehicle to transmit and receive ultrasonic waves; And 후진기어 및 트레일러 미장착 신호가 둘다 온 신호 발생 시, 상기 전방센서부들을 통해 6내지7개의 송신펄스를 송신하도록 하고, 상기 복수의 후방센서부들 중 제1후방센서부를 통해 10개의 송신펄스를, 제2후방센서부를 통해 6내지7개의 송신펄스를 송신하도록 순차적으로 후방센서부들을 제어하는 시스템제어모듈;을 포함함을 특징으로 하는 주차보조 장치.When the reverse gear and the trailer-free signal are both turned on, six to seven transmission pulses are transmitted through the front sensor parts, and ten transmission pulses are transmitted through the first rear sensor part of the plurality of rear sensor parts. And a system control module for sequentially controlling the rear sensor units to transmit 6 to 7 transmission pulses through the rear sensor unit.
KR1020030067006A 2003-09-26 2003-09-26 Parking assist system and controlling method thereof KR20050030802A (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100802805B1 (en) * 2006-07-25 2008-02-12 현대자동차주식회사 Back warning buzzer system for vehicle mounting trailer
KR101039986B1 (en) * 2005-02-03 2011-06-09 주식회사 현대오토넷 Parking assistant video system
KR20130005106A (en) * 2011-07-05 2013-01-15 현대자동차주식회사 Method for assisting a parking to adjust length of vehicle
KR20160015752A (en) * 2014-07-31 2016-02-15 현대모비스 주식회사 Parking assist system for detecting the super proximity obstruction around a vehicle and method thereof
KR101603072B1 (en) * 2015-01-23 2016-03-14 (주) 모토텍 System and Method for Controlling PAS and BSA using LIN

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101039986B1 (en) * 2005-02-03 2011-06-09 주식회사 현대오토넷 Parking assistant video system
KR100802805B1 (en) * 2006-07-25 2008-02-12 현대자동차주식회사 Back warning buzzer system for vehicle mounting trailer
KR20130005106A (en) * 2011-07-05 2013-01-15 현대자동차주식회사 Method for assisting a parking to adjust length of vehicle
KR20160015752A (en) * 2014-07-31 2016-02-15 현대모비스 주식회사 Parking assist system for detecting the super proximity obstruction around a vehicle and method thereof
KR101603072B1 (en) * 2015-01-23 2016-03-14 (주) 모토텍 System and Method for Controlling PAS and BSA using LIN

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