Vehicle vision system with automatic parking function

Abstract

A vehicle parking system of a vehicle includes a plurality of exterior viewing cameras and a control having an image processor operable to process image data captured by the cameras. The vehicle parking system learns a path of travel from a drop off location to a parking location during a learning maneuver that includes a driver driving the vehicle from the drop off location to the parking location. The control, upon the driver exiting the vehicle when the vehicle is positioned at the drop off location and at least in part responsive to the learned path of travel, controls the vehicle to autonomously drive the vehicle from the drop off location to the parking location. The control, responsive at least in part to image processing by the image processor of image data captured by at least one of the cameras, parks the vehicle at the parking location.

1 . A vehicle parking system for a vehicle, said vehicle parking system comprising:
 a plurality of exterior viewing cameras disposed at a vehicle, each camera of said plurality of exterior viewing cameras having a respective field of view exterior of the vehicle;   a control comprising an image processor operable to process image data captured by said cameras;   wherein said vehicle parking system learns a path of travel from a drop off location to a parking location during a learning maneuver that comprises a driver driving the vehicle from the drop off location to the parking location; and   wherein said control, upon the driver exiting the vehicle when the vehicle is positioned at the drop off location and at least in part responsive to the learned path of travel, controls the vehicle to autonomously drive the vehicle from the drop off location to the parking location, and wherein said control, responsive at least in part to image processing by said image processor of image data captured by at least one of said cameras, parks the vehicle at the parking location.   
     
     
         2 . The vehicle parking system of  claim 1 , wherein said vehicle parking system learns the path of travel from the drop off location to the parking location responsive to a user input that, when actuated by a user when the vehicle is at the drop off location, actuates a learning function of said vehicle parking system. 
     
     
         3 . The vehicle parking system of  claim 1 , wherein said control, after said vehicle parking system learns the path of travel and responsive to actuation of a user input when the vehicle is at the drop off location, autonomously drives the vehicle from the drop off location to the parking location. 
     
     
         4 . The vehicle parking system of  claim 1 , wherein, responsive at least in part to processing by said image processor of captured image data while said control autonomously drives the vehicle from the drop off location to the parking location, said vehicle parking system determines the presence of an object in the path of travel and, responsive to determination of the object, said control adjusts steering or braking of the vehicle as said control autonomously drives the vehicle along the learned path of travel. 
     
     
         5 . The vehicle parking system of  claim 1 , wherein, responsive to a determination of a variation in the location of the vehicle along the learned path of travel, said control adjusts steering or braking of the vehicle as the vehicle is autonomously driven towards the parking location. 
     
     
         6 . The vehicle parking system of  claim 5 , wherein said control determines the variation via image processing by said image processor of captured image data. 
     
     
         7 . The vehicle parking system of  claim 1 , wherein the parking location is at an entrance of a parking structure and wherein, after the vehicle is autonomously driven to the parking location at the parking structure, said control parks the vehicle at a parking space of the parking structure responsive at least in part to signals from beacons at the parking structure. 
     
     
         8 . The vehicle parking system of  claim 7 , wherein, responsive at least in part to signals from beacons, said vehicle parking system determines the current location of the vehicle at the parking structure. 
     
     
         9 . The vehicle parking system of  claim 8 , wherein said control autonomously drives the vehicle from the parking location at the parking structure to a selected parking space of the parking structure responsive at least in part to the determined current location of the vehicle at the parking structure. 
     
     
         10 . The vehicle parking system of  claim 9 , wherein said vehicle parking system is operable to determine, at least in part via image processing by said image processor of image data captured by at least some of said cameras, the presence of an object in the path of travel of the vehicle and, responsive to determination of the object, said control adjusts steering or braking of the vehicle as said control autonomously drives the vehicle toward the selected parking space of the parking structure. 
     
     
         11 . The vehicle parking system of  claim 1 , wherein said vehicle parking system is operable at least in part responsive to a remote control device, whereby a user controls steering and braking of the vehicle via the remote control device remote from the vehicle. 
     
     
         12 . The vehicle parking system of  claim 1 , wherein said control controls the vehicle to autonomously drive the vehicle from the drop off location to the parking location responsive at least in part to image processing by said image processor of image data captured by at least some of said cameras. 
     
     
         13 . The vehicle parking system of  claim 1 , wherein said control controls the vehicle to autonomously drive the vehicle from the drop off location to the parking location responsive at least in part to a plurality of non-imaging sensors of the vehicle. 
     
     
         14 . A vehicle parking system for a vehicle, said vehicle parking system comprising:
 a plurality of exterior viewing cameras disposed at a vehicle, each camera of said plurality of exterior viewing cameras having a respective field of view exterior of the vehicle;   a control comprising an image processor operable to process image data captured by said cameras;   wherein, responsive at least in part to actuation of a first user input, said vehicle parking system learns a path of travel from a drop off location to a parking location during a learning maneuver that comprises a driver, after actuating the first user input, driving the vehicle from the drop off location to the parking location; and   wherein said control, responsive to the driver actuating a second user input when the vehicle is positioned at the drop off location, controls the vehicle to follow the learned path of travel to autonomously drive the vehicle from the drop off location to the parking location, and wherein said control, responsive at least in part to image processing by said image processor of image data captured by at least one of said cameras, parks the vehicle at the parking location.   
     
     
         15 . The vehicle parking system of  claim 14 , wherein, responsive at least in part to processing by said image processor of captured image data while said control autonomously drives the vehicle from the drop off location to the parking location, said vehicle parking system determines the presence of an object in the path of travel and, responsive to determination of the object, said control adjusts steering or braking of the vehicle as said control autonomously drives the vehicle along the learned path of travel. 
     
     
         16 . The vehicle parking system of  claim 14 , wherein the parking location is at an entrance of a parking structure and wherein, after the vehicle is autonomously driven to the parking location at the parking structure, said control parks the vehicle at a parking space of the parking structure responsive at least in part to signals from a parking system of the parking structure. 
     
     
         17 . The vehicle parking system of  claim 14 , wherein said control controls the vehicle to autonomously drive the vehicle from the drop off location to the parking location responsive at least in part to (i) image processing by said image processor of image data captured by at least some of said cameras and (ii) a plurality of non-imaging sensors of the vehicle. 
     
     
         18 . A vehicle parking system for a vehicle, said vehicle parking system comprising:
 a plurality of exterior viewing cameras disposed at a vehicle, each camera of said plurality of exterior viewing cameras having a respective field of view exterior of the vehicle;   a control comprising an image processor operable to process image data captured by said cameras;   wherein said vehicle parking system learns a path of travel from a drop off location to a parking structure during a learning maneuver that comprises a driver driving the vehicle from the drop off location to the parking structure; and   wherein said control, upon the driver exiting the vehicle when the vehicle is positioned at the drop off location and at least in part responsive to the learned path of travel, controls the vehicle to autonomously drive the vehicle from the drop off location to the parking structure;   wherein, after the vehicle is autonomously driven to the parking structure, said control parks the vehicle at a parking space of the parking structure responsive at least in part to signals from a parking system of the parking structure; and   wherein, responsive at least in part to signals from the parking system of the parking structure, said vehicle parking system determines the current location of the vehicle at the parking structure and said control autonomously drives the vehicle to the parking space of the parking structure responsive at least in part to the determined current location of the vehicle at the parking structure.   
     
     
         19 . The vehicle parking system of  claim 18 , wherein said vehicle parking system is operable to determine, at least in part via image processing by said image processor of image data captured by at least some of said cameras, the presence of an object in the path of travel of the vehicle and, responsive to determination of the object, said control adjusts steering or braking of the vehicle as said control autonomously drives the vehicle toward the selected parking space of the parking structure. 
     
     
         20 . The vehicle parking system of  claim 18 , wherein said control controls the vehicle to autonomously drive the vehicle from the drop off location to the parking structure responsive at least in part to (i) image processing by said image processor of image data captured by at least some of said cameras and (ii) a plurality of non-imaging sensors of the vehicle.