U.S. patent application number 15/446218 was filed with the patent office on 2017-09-07 for vehicle vision system with automatic parking function.
The applicant listed for this patent is MAGNA ELECTRONICS INC.. Invention is credited to Horst D. Diessner.
Application Number | 20170253237 15/446218 |
Document ID | / |
Family ID | 59722614 |
Filed Date | 2017-09-07 |
United States Patent
Application |
20170253237 |
Kind Code |
A1 |
Diessner; Horst D. |
September 7, 2017 |
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.
Inventors: |
Diessner; Horst D.;
(Rochester Hills, MI) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
MAGNA ELECTRONICS INC. |
Auburn Hills |
MI |
US |
|
|
Family ID: |
59722614 |
Appl. No.: |
15/446218 |
Filed: |
March 1, 2017 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
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62302346 |
Mar 2, 2016 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B60W 30/06 20130101;
B60W 10/04 20130101; G05D 1/0246 20130101; B60W 10/18 20130101;
G05D 2201/0213 20130101; B60W 10/20 20130101; B60W 50/14 20130101;
B60W 2554/00 20200201; G05D 1/0221 20130101; B60W 2555/00 20200201;
B60W 10/02 20130101; B60W 2556/00 20200201 |
International
Class: |
B60W 30/06 20060101
B60W030/06; G05D 1/00 20060101 G05D001/00; G05D 1/02 20060101
G05D001/02; B60W 50/14 20060101 B60W050/14 |
Claims
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.
Description
CROSS REFERENCE TO RELATED APPLICATION
[0001] The present application claims the filing benefits of U.S.
provisional application Ser. No. 62/302,346, filed Mar. 2, 2016,
which is hereby incorporated herein by reference in its
entirety.
FIELD OF THE INVENTION
[0002] The present invention relates generally to a vehicle vision
system for a vehicle and, more particularly, to a vehicle vision
system that utilizes one or more cameras at a vehicle.
BACKGROUND OF THE INVENTION
[0003] Use of imaging sensors in vehicle imaging systems is common
and known.
[0004] Examples of such known systems are described in U.S. Pat.
Nos. 5,949,331; 5,670,935 and/or 5,550,677, which are hereby
incorporated herein by reference in their entireties.
SUMMARY OF THE INVENTION
[0005] The present invention provides a driver assistance system or
vision system or imaging system for a vehicle that utilizes one or
more exterior sensors, such as cameras and/or ultrasonic sensors
and/or radar sensors or the like to capture data representative of
the vehicle surroundings, and provides an autonomous parking
feature that controls the vehicle to park the vehicle at a targeted
parking location. The system may provide a home parking function,
where the system can record or learn a path for the vehicle to
travel from a drop off location (such as by a front door of a
house) to a parking location (such as in a garage of the house).
The system can then follow the recorded path to park the vehicle
after the driver has exited the vehicle at the drop off location.
Optionally, the system may provide a valet parking feature, where
the system may autonomously control the vehicle to drive the
vehicle through a parking structure to a parking space or zone.
[0006] These and other objects, advantages, purposes and features
of the present invention will become apparent upon review of the
following specification in conjunction with the drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
[0007] FIG. 1 is a plan view of a vehicle with a vehicle parking
system that incorporates cameras and/or other exterior sensors in
accordance with the present invention;
[0008] FIG. 2 is a schematic showing system architecture of the
parking system of the present invention;
[0009] FIG. 3 is another schematic showing system architecture of
the parking system of the present invention, shown using cameras
and image processing;
[0010] FIG. 4 is a block diagram of a remote control system for
controlling the parking system of the present invention, showing a
display screen that shows the vehicle as it is being automatically
or remotely driven in accordance with the present invention;
[0011] FIGS. 5-8 are plan views of a parking scenario for a home
parking system of the present invention;
[0012] FIGS. 9-12 are plan views of a parking scenario for a valet
parking system of the present invention;
[0013] FIG. 13 is a schematic showing system architecture of the
parking system of the present invention; and
[0014] FIG. 14 is another schematic showing system architecture of
the parking system of the present invention.
DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0015] A vehicle vision system and/or parking system and/or driver
assist system and/or object detection system and/or alert system
operates to capture images exterior of the vehicle and may process
the captured image data to display images and to detect objects at
or near the vehicle and in the predicted path of the vehicle, such
as to assist a driver of the vehicle in maneuvering the vehicle in
a rearward direction. The vision system includes an image processor
or image processing system that is operable to receive image data
from one or more cameras and provide an output to a display device
for displaying images representative of the captured image data.
Optionally, the vision system may provide display, such as a
rearview display or a top down or bird's eye or surround view
display or the like.
[0016] Referring now to the drawings and the illustrative
embodiments depicted therein, a vehicle 10 includes a vehicle
parking system 12 that includes at least one exterior facing sensor
or imaging sensor or camera, such as a rearward facing imaging
sensor or camera 14a (and the system may optionally include
multiple exterior facing imaging sensors or cameras, such as a
forward facing camera 14b at the front (or at the windshield) of
the vehicle, and a sideward/rearward facing camera 14c, 14d at
respective sides of the vehicle), which captures images exterior of
the vehicle, with the camera having a lens for focusing images at
or onto an imaging array or imaging plane or imager of the camera
(FIG. 1). Optionally, a forward viewing camera may be disposed at
the windshield of the vehicle and view through the windshield and
forward of the vehicle, such as for a machine vision system (such
as for traffic sign recognition, headlamp control, pedestrian
detection, collision avoidance, lane marker detection and/or the
like). The parking system 12 includes a control or electronic
control unit (ECU) or processor 18 that is operable to process
image data captured by the camera or cameras and may detect objects
or the like and/or provide displayed images at a display device 16
for viewing by the driver of the vehicle (although shown in FIG. 1
as being part of or incorporated in or at an interior rearview
mirror assembly 20 of the vehicle, the control and/or the display
device may be disposed elsewhere at or in the vehicle). The data
transfer or signal communication from the camera to the ECU may
comprise any suitable data or communication link, such as a vehicle
network bus or the like of the equipped vehicle.
[0017] The present invention provides an automatic parking system
that will "valet park" a vehicle by driving or controlling the
vehicle from a location where the driver and passenger may be
dropped off to a parking space a relatively short distance
away.
[0018] The system includes a plurality of sensors, such as multiple
(e.g., about 12) ultrasonic sensors or the like, and an embedded
ECU for ultrasonic park assist (UPA) functions and for ultrasonic
park space detection (UPSD) functions (see FIG. 2). The system may
include CarPC using AppControl for evaluation of UPA and UPSD data
for collision detection, free space detection and free space
detection manager functions, and may include CarPC using AppControl
for CAN based EgoMotion functions. The system may include
Microautobox for path planner and vehicle control functions, and
may include Microautobox for all application functions such as
reference time generator and human-machine interface (HMI) control,
and may include Microautobox for communication with the vehicle
using Flexray or the like. The embedded ECU, CarPC and Microautobox
may communicate using a local CAN bus of the vehicle.
[0019] Optionally, the vehicle parking system may include or
utilize cameras and machine vision algorithm blocks for surround
view systems (SVS) or rear vision camera (RVC) systems and
ultrasonic autopark, and may include motion estimation, image
classifier, contrast+block entropy, line detection, structure from
motion and/or object detection (see FIG. 3).
[0020] Optionally, the parking system of the present invention may
use a remote control application running on mobile device (see FIG.
4). The remote control app should allow the user to execute an
automated vehicle maneuver by holding down a button while the
driver is outside the vehicle, and to maneuver the vehicle manually
forward/backward, left/right (like a remote control car). The
system may display the system status/obstacle information,
distances to objects on the app display and/or images captured by
one or more cameras of the vehicle or of the structure where the
vehicle is being parked (such as via a vehicle-to-infrastructure
communication or the like). The remote control app may be generic
in order to support re-use in various projects such as an auto-park
system and/or a home zone parking system and/or a trailer backup
assist system or the like.
[0021] Optionally, the parking system of the present invention may
be operable as a home zone parking system that allows a user or
driver to get out of the vehicle (such as at a driveway near the
front door of the house), whereby the system will autonomously
drive the vehicle from the drop off location to the parking
location, such as into the garage or the like (see FIGS. 5-8). The
system allows for learning or recording of a parking maneuver while
the driver is controlling the vehicle (such as responsive to the
driver actuating a user input to commence the learning function
when the vehicle is at a start or drop off location), for example
driving and parking of a vehicle from the entrance door of a house
to a designated parking location, and then replaying or re-enacting
the parking maneuver without a driver in the vehicle, where the
parking system controls the vehicle during the maneuver. For
example, the driver, when the vehicle is positioned at a drop off
location (such as at or near the door of a house), may actuate the
learning feature of the system (via actuation of a first user input
when the vehicle is at a start or drop off location), and then the
driver may drive the vehicle from the drop off location to the
parking location (such as at or in a garage). After the path of
travel (between the drop off location and the parking location) has
been learned by the system, the next time the driver positions the
vehicle at the drop off location, the driver may exit the vehicle
and actuate the parking feature (such as via actuation of a second
user input of the vehicle when the driver is exiting the vehicle at
a start or drop off location or via actuation of a remote device or
key fob or the like when the vehicle is at a start or drop off
location), whereby the control drives the vehicle (following the
previously learned path) from the drop off location to the parking
location.
[0022] The system utilizes object detection using cameras, UPA (and
radar) sensors during the replay or autonomous parking/driving
maneuver in order to avoid collisions and control the vehicle along
the learned path (see FIGS. 6-8). The system allows for dynamic
adjustment of the recorded path in order adjust for variation of
the vehicle start position and to reach the exact end position
(FIGS. 7 and 8). The system allows for dynamic adjustment of the
recorded path in order for the vehicle to maneuver around temporary
objects on the path (see FIG. 8).
[0023] The system thus may provide a static record and replay
without object detection and dynamic path adjustment, such as for a
controlled environment, with only static objects present (no other
moving vehicles), no pedestrians present (FIG. 5). As shown in FIG.
5, there are no objects present on the path (path is clear), so the
system can record path data while the driver is maneuvering the
vehicle to the parking position, with the vehicle control limited
to maneuvering in one direction (such as only forward maneuvers),
with a targeted maximum path length of less than 50 m, preferably
less than about 30 m, and a maximum speed of less than about 10
km/h during the recording phase. During static replay of the path
data and maneuvering of vehicle on and along the pre-recorded path
without using camera/UPA/radar data, the maximum speed may be
further reduced, such as less than about 5 km/h during the
replay.
[0024] The system may provide enhanced control of the vehicle by
providing for static record and replay with object detection and
without dynamic path adjustment (FIG. 6). As shown in FIG. 6, the
vehicle is in a controlled environment, with only static objects
present (no other moving vehicles), no pedestrians present. The
system may record path data while the driver is maneuvering to the
parking position, and may limit the maneuvering to forward and
reverse maneuvers (such as 3 sweeps), with a maximum path length of
less than 50 m, preferably less than about 30 m, and with a maximum
speed of less than about 10 km/h during recording. During
controlled parking, the system may perform object detection during
the maneuver using cameras/UPA/Radar or the like, and will stop the
vehicle if an object is detected in the path of travel of the
vehicle. Upon detection of such an object, the system may stop or
pause the vehicle maneuver until the object is removed, and then
may resume the parking maneuver.
[0025] Optionally, the system may provide for static record and
replay with object detection and with dynamic path adjustment at
the end of the path (FIG. 7). As shown in FIG. 7, the vehicle is in
a controlled environment, with only static objects present (no
other moving vehicles), no pedestrians present. The system may
record path data while the driver is maneuvering to the parking
position, and may limit the maneuvering to forward and reverse
maneuvers (such as 3 sweeps), with a maximum path length of less
than 50 m, preferably less than about 30 m, and with a maximum
speed of less than about 10 km/h during recording. The system
records landmarks while the driver is maneuvering the vehicle (for
example, the system may determine distances to edges of the
driveway at certain points, or distances to the garage walls at the
final parking position), such as at or near the end of the path
(for example, the last five meters or thereabouts of the path). The
system may perform object detection during the maneuver using
cameras/UPA/Radar and may stop the vehicle if an object is detected
on the path of travel of the vehicle, whereby the system may stop
or pause the vehicle maneuver until the determined object is
removed, and then may resume the maneuver. As shown in FIG. 7, the
system may dynamically adjust the maneuver at the end of the path
in order to park the vehicle consistently in the same parking
position.
[0026] Optionally, the system may provide for static record and
replay with object detection and with dynamic path adjustment
during the entire maneuver (FIG. 8). The system may record
landmarks in an environment map while the driver is maneuvering the
vehicle (such as, for example, determining and recording distances
to edges of the driveway at certain points, or distances to the
garage walls at final parking position). The system may perform
object detection during the maneuver using cameras/UPA/Radar or the
like and may stop the vehicle if an object is detected on the path
of travel. If an obstacle is detected, the system may determine if
the vehicle can maneuver around the object and may adjust the path
if such maneuvering around is possible. The system may stop or
pause the maneuver if maneuvering around is not possible, and then
may resume the maneuver after the object is removed from the path.
The system may compare the recorded environment map and the current
environment map and may modify the path in order to move the
vehicle on the exact same path, and to compensate for differences
in the start position of the vehicle (when the system commences
control of the vehicle). The end position shall be the same for
every replay.
[0027] Optionally, the system of the present invention may provide
a valet parking function, where the system may park a vehicle at a
public parking space after the driver has dropped himself or
herself off at a desired location. Optionally, the desired location
may be remote from the parking structure and the system may control
the vehicle to follow a learned or predetermined path from the drop
off location to an entrance of the parking structure (such as in a
similar manner as discussed above). The system allows for
autonomous maneuvering of the vehicle from any point inside or in
the vicinity of a parking structure (such as at an entrance to the
parking structure) to a designated parking location inside the
parking structure. The system may include detection of available
parking spaces in the vicinity of the designated parking location
inside the parking structure using an autopark system that detects
available parking spaces (such as by utilizing aspects of the
systems described in U.S. Pat. No. 8,874,317 and/or U.S.
Publication Nos. US-2017-0015312; US-2015-0158499; US-2015-0251599;
US-2015-0124096; US-2015-0344028; US-2014-0375476 and/or
US-2013-0116859, which are all hereby incorporated herein by
reference in their entireties). The system provides autonomous
parking of the vehicle in the detected parking space.
[0028] The system provides predetermined static path maneuvers from
a defined point inside a parking structure to a desired parking
zone inside the parking structure on the same floor level followed
by automated parking (see FIGS. 9-12). As shown in FIG. 9, the
vehicle is in a controlled environment, with only static objects
present (no other moving vehicles), no pedestrians present. The
system may include detection of static objects (parked vehicles,
structural elements, guard rails, posts, and/or the like) using
cameras and ultrasonic sensors. The system may abort the maneuver
if the system determines that the vehicle would collide with any
static object, and may provide emergency braking in case the
vehicle would collide with any static object. The system may
include a parking structure fingerprinting system to locate the
vehicle during maneuver. An autopark system of the vehicle may be
activated as the vehicle approaches the end of the predetermined
static path (the parking zone) and searches for open parking
spaces. The system stops the vehicle when the autopark system finds
a parking space, and vehicle control is turned over to the autopark
system, which parks the vehicle in the detected parking space.
[0029] Optionally, the system may perform a predetermined static
path maneuver from a defined point outside the parking structure to
a desired parking zone inside the parking structure on the same
floor level, followed by automated parking (FIG. 10). The system
may function in a similar manner as described above, and may use
GPS data for maneuvering the vehicle from its location outside the
parking structure and then may switch to BLUETOOTH/Wi-Fi
fingerprinting for vehicle localization and maneuvering inside the
parking structure. The path length outside the structure may be
limited to a relatively short distance, such as less than about 100
meters, preferably less than about 50 meters or thereabouts.
[0030] Optionally, the system may perform a predetermined static
path maneuver with path adjustments from a defined point outside
the parking structure to a desired area inside the parking
structure on the same floor level followed by automated parking
(FIG. 11). The system may function in a similar manner as described
above, and may detect the drivable area while the vehicle is moving
using machine vision (and radar sensors). The valet parking system
detects objects along the drivable area using ultrasonic sensors
and detects lines using line detection algorithms. All of the
detected and determined information is entered into an environment
map, which is used to adjust or fine tune the predetermined vehicle
path in order to maneuver the vehicle centered on the lane, with a
constant distance from limits at the right vehicle side.
[0031] Optionally, the system may perform a planned path maneuver
with path adjustments from a defined point outside the parking
structure to a desired area inside the parking structure on the
same floor level followed by automated parking (FIG. 12). The
system defines a layout of the parking structure (parking structure
map), and the "smart parking structure" defines the area with free
parking spaces (parking zone). The valet parking system plans a
path from the current vehicle position outside the parking
structure to the parking zone using the parking structure map. This
system adds the functionality of path planning to maneuver the
vehicle to the parking zone, but the rest of the functionality is
similar to that discussed above. Optionally, for example, the
system may learn a path from a common drop off location to a
location inside a parking structure (such as described above) and
then, when the vehicle is autonomously positioned at the location
inside the parking structure, the system switches from following
the learned path to being responsive to the parking structure
layout/zones.
[0032] For applications where the system parks the vehicle within a
parking structure, the system may utilize an indoor positioning
system for underground (or not outside) parking structures. The
system may utilize absolute positioning via Bluetooth LE or WLAN or
the like and relative positioning with vehicle sensors and
optionally a navigation map. The position fingerprinting system or
function determines position of the vehicle by comparing the
measured signal patterns with previously measured signal patterns
in reference points. Optionally, and desirably, the parking garage
may have WLAN access points and/or 60 Bluetooth access points and a
plurality of fingerprints, whereby the system can determine the
vehicle's position within the garage via processing of signals from
the access points. The system may combine this information with
data captured by vehicle sensors (and processed by a vehicle-based
processor) to enhance the determination of the position of the
vehicle. The system may use CAN data and Kalman Filtering and/or
Particle Filtering to enhance the position or location
determination to enhance the vehicle's controlled path of travel
when the system is autonomously controlling and parking the
vehicle. Optionally, the system may extract map information for
further enhancement.
[0033] As shown in FIG. 13, the system may be adaptable to park a
vehicle pulling a trailer, such as by utilizing various trailer
angle detection systems and trailer assist systems of the types
described in U.S. Pat. No. 9,085,261 and/or U.S. Publication Nos.
US-2017-0050672; US-2015-0002670; US-2014-0160276; US-2012-0265416;
US-2014-0085472 and/or US-2015-0217693, which are hereby
incorporated herein by reference in their entireties.
[0034] Optionally, the system may comprise simplified system
architecture as shown in FIG. 14. Additional signals/data flows may
be required, and the system may utilize a sensor fusion map
generation in CarPC or the like, and path planning in Microautobox
(MAB) or the like.
[0035] The camera or sensor may comprise any suitable camera or
sensor. Optionally, the camera may comprise a "smart camera" that
includes the imaging sensor array and associated circuitry and
image processing circuitry and electrical connectors and the like
as part of a camera module, such as by utilizing aspects of the
vision systems described in International Publication Nos. WO
2013/081984 and/or WO 2013/081985, which are hereby incorporated
herein by reference in their entireties.
[0036] The system includes an image processor operable to process
image data captured by the camera or cameras, such as for detecting
objects or other vehicles or pedestrians or the like in the field
of view of one or more of the cameras. For example, the image
processor may comprise an image processing chip selected from the
EyeQ family of image processing chips available from Mobileye
Vision Technologies Ltd. of Jerusalem, Israel, and may include
object detection software (such as the types described in U.S. Pat.
Nos. 7,855,755; 7,720,580 and/or 7,038,577, which are hereby
incorporated herein by reference in their entireties), and may
analyze image data to detect vehicles and/or other objects.
Responsive to such image processing, and when an object or other
vehicle is detected, the system may generate an alert to the driver
of the vehicle and/or may generate an overlay at the displayed
image to highlight or enhance display of the detected object or
vehicle, in order to enhance the driver's awareness of the detected
object or vehicle or hazardous condition during a driving maneuver
of the equipped vehicle.
[0037] The vehicle may include any type of sensor or sensors, such
as imaging sensors or radar sensors or lidar sensors or ladar
sensors or ultrasonic sensors or the like. The imaging sensor or
camera may capture image data for image processing and may comprise
any suitable camera or sensing device, such as, for example, a two
dimensional array of a plurality of photosensor elements arranged
in at least 640 columns and 480 rows (at least a 640.times.480
imaging array, such as a megapixel imaging array or the like), with
a respective lens focusing images onto respective portions of the
array. The photosensor array may comprise a plurality of
photosensor elements arranged in a photosensor array having rows
and columns. Preferably, the imaging array has at least 300,000
photosensor elements or pixels, more preferably at least 500,000
photosensor elements or pixels and more preferably at least 1
million photosensor elements or pixels. The imaging array may
capture color image data, such as via spectral filtering at the
array, such as via an RGB (red, green and blue) filter or via a
red/red complement filter or such as via an RCC (red, clear, clear)
filter or the like. The logic and control circuit of the imaging
sensor may function in any known manner, and the image processing
and algorithmic processing may comprise any suitable means for
processing the images and/or image data.
[0038] For example, the vision system and/or processing and/or
camera and/or circuitry may utilize aspects described in U.S. Pat.
Nos. 9,233,641; 9,146,898; 9,174,574; 9,090,234; 9,077,098;
8,818,042; 8,886,401; 9,077,962; 9,068,390; 9,140,789; 9,092,986;
9,205,776; 8,917,169; 8,694,224; 7,005,974; 5,760,962; 5,877,897;
5,796,094; 5,949,331; 6,222,447; 6,302,545; 6,396,397; 6,498,620;
6,523,964; 6,611,202; 6,201,642; 6,690,268; 6,717,610; 6,757,109;
6,802,617; 6,806,452; 6,822,563; 6,891,563; 6,946,978; 7,859,565;
5,550,677; 5,670,935; 6,636,258; 7,145,519; 7,161,616; 7,230,640;
7,248,283; 7,295,229; 7,301,466; 7,592,928; 7,881,496; 7,720,580;
7,038,577; 6,882,287; 5,929,786 and/or 5,786,772, and/or U.S.
Publication Nos. US-2014-0340510; US-2014-0313339; US-2014-0347486;
US-2014-0320658; US-2014-0336876; US-2014-0307095; US-2014-0327774;
US-2014-0327772; US-2014-0320636; US-2014-0293057; US-2014-0309884;
US-2014-0226012; US-2014-0293042; US-2014-0218535; US-2014-0218535;
US-2014-0247354; US-2014-0247355; US-2014-0247352; US-2014-0232869;
US-2014-0211009; US-2014-0160276; US-2014-0168437; US-2014-0168415;
US-2014-0160291; US-2014-0152825; US-2014-0139676; US-2014-0138140;
US-2014-0104426; US-2014-0098229; US-2014-0085472; US-2014-0067206;
US-2014-0049646; US-2014-0052340; US-2014-0025240; US-2014-0028852;
US-2014-005907; US-2013-0314503; US-2013-0298866; US-2013-0222593;
US-2013-0300869; US-2013-0278769; US-2013-0258077; US-2013-0258077;
US-2013-0242099; US-2013-0215271; US-2013-0141578 and/or
US-2013-0002873, which are all hereby incorporated herein by
reference in their entireties. The system may communicate with
other communication systems via any suitable means, such as by
utilizing aspects of the systems described in International
Publication Nos. WO/2010/144900; WO 2013/043661 and/or WO
2013/081985, and/or U.S. Pat. No. 9,126,525, which are hereby
incorporated herein by reference in their entireties.
[0039] The system may also communicate with other systems, such as
via a vehicle-to-vehicle communication system or a
vehicle-to-infrastructure communication system or the like. Such
car2car or vehicle to vehicle (V2V) and vehicle-to-infrastructure
(car2X or V2X or V2I or 4G or 5G) technology provides for
communication between vehicles and/or infrastructure based on
information provided by one or more vehicles and/or information
provided by a remote server or the like. Such vehicle communication
systems may utilize aspects of the systems described in U.S. Pat.
Nos. 6,690,268; 6,693,517 and/or 7,580,795, and/or U.S. Publication
Nos. US-2014-0375476; US-2014-0218529; US-2013-0222592;
US-2012-0218412; US-2012-0062743; US-2015-0251599; US-2015-0158499;
US-2015-0124096; US-2015-0352953; US-2016-0036917 and/or
US-2016-0210853, which are hereby incorporated herein by reference
in their entireties.
[0040] The system may utilize aspects of the parking assist systems
described in U.S. Pat. No. 8,874,317 and/or U.S. Publication Nos.
US-2017-0050672; US-2017-0017848; US-2017-0015312 and/or
US-2015-0344028, and/or U.S. provisional applications, Ser. No.
62/335,248, filed May 12, 2016, and/or Ser. No. 62/330,558, filed
May 2, 2016, which are hereby incorporated herein by reference in
their entireties.
[0041] Optionally, the vision system may include a display for
displaying images captured by one or more of the imaging sensors
for viewing by the driver of the vehicle while the driver is
normally operating the vehicle. Optionally, for example, the vision
system may include a video display device, such as by utilizing
aspects of the video display systems described in U.S. Pat. Nos.
5,530,240; 6,329,925; 7,855,755; 7,626,749; 7,581,859; 7,446,650;
7,338,177; 7,274,501; 7,255,451; 7,195,381; 7,184,190; 5,668,663;
5,724,187; 6,690,268; 7,370,983; 7,329,013; 7,308,341; 7,289,037;
7,249,860; 7,004,593; 4,546,551; 5,699,044; 4,953,305; 5,576,687;
5,632,092; 5,677,851; 5,708,410; 5,737,226; 5,802,727; 5,878,370;
6,087,953; 6,173,508; 6,222,460; 6,513,252 and/or 6,642,851, and/or
U.S. Publication Nos. US-2012-0162427; US-2006-0050018 and/or
US-2006-0061008, which are all hereby incorporated herein by
reference in their entireties. Optionally, the vision system
(utilizing the forward facing camera and a rearward facing camera
and other cameras disposed at the vehicle with exterior fields of
view) may be part of or may provide a display of a top-down view or
bird's-eye view system of the vehicle or a surround view at the
vehicle, such as by utilizing aspects of the vision systems
described in International Publication Nos. WO 2010/099416; WO
2011/028686; WO 2012/075250; WO 2013/019795; WO 2012/075250; WO
2012/145822; WO 2013/081985; WO 2013/086249 and/or WO 2013/109869,
and/or U.S. Publication No. US-2012-0162427, which are hereby
incorporated herein by reference in their entireties.
[0042] Changes and modifications in the specifically described
embodiments can be carried out without departing from the
principles of the invention, which is intended to be limited only
by the scope of the appended claims, as interpreted according to
the principles of patent law including the doctrine of
equivalents.
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