GB2574386A - Apparatus and method for controlling vehicle movement - Google Patents

Abstract

The invention provides a controller (200 fig 2), comprising an input (230 fig 2) for receiving an environment signal indicative of a feature 125 in a vicinity of a vehicle 110, and an output (240 fig 2) for outputting a manoeuvre signal to cause the vehicle 110 to perform a defined manoeuvre. Control means (210 fig 2) control the output means to alter a position of a moveable projection such as an external mirror 182 during the defined manoeuvre in dependence on the environment signal. The invention avoids contact between the mirror 182 and a feature 125 during parking or another manoeuvre such as unparking. The manoeuvre may be dependent on sensed occupant presence. Control may be communicated wirelessly.

Description

APPARATUS AND METHOD FOR CONTROLLING VEHICLE MOVEMENT

TECHNICAL FIELD

The present disclosure relates to controlling movement of a vehicle and particularly, but not exclusively, to controlling performance of a defined manoeuvre by the vehicle. Aspects of the invention relate to a controller, to a system, to a method, to a vehicle and to computer software.

BACKGROUND

It is known for a vehicle to perform a defined manoeuvre, such as an automatic, or semiautonomous, parking manoeuvre. The vehicle may be instructed to perform the manoeuvre remotely i.e. via a mobile device at which a user input is received to instruct the manoeuvre.

Environment sensing means of the vehicle are used to determine a location of features in a vicinity of the vehicle such as, although not exclusively, markings, walls, posts, other vehicles etc. The vehicle may then be instructed, such as via the mobile device or other input medium, to move to a parked location in relation to the features. For example, it may be desired for a vehicle to move into a parking space bounded by the features. In order to prevent the vehicle contacting an object the environment sensing means determines a distance between the vehicle and the object and the automatic parking manoeuvre is performed to leave the vehicle a separation distance from the object. For example, the vehicle may be reversed towards the feature, until an appropriate separation distance is determined by the environment sensing means. Once the vehicle has reached a completed parked position, the vehicle is switched off, typically with a parking brake applied.

Sometimes the features bounding a parking space can inhibit access to the space for a vehicle. For example, a parking space may be too narrow to allow the vehicle to manoeuvre into or out of the parking space, such as with sufficient clearance, or even be too narrow to receive the vehicle as such (e.g. narrower than a maximum width of the vehicle).

It is an object of embodiments of the invention to at least mitigate one or more of the problems of the prior art.

SUMMARY OF THE INVENTION

Aspects and embodiments of the invention provide a controller, a system, a method, a vehicle and computer software as claimed in the appended claims.

According to an aspect of the invention, there is provided a controller arranged to operably alter in dependence on an environment signal a position of a moveable projection of a vehicle during performance of a defined manoeuvre.

According to an aspect of the invention, there is provided a controller comprising: input means for receiving an environment signal indicative of a location of one or more features in a vicinity of a vehicle; output means for outputting a manoeuvre signal to cause the vehicle to perform a defined manoeuvre; and control means arranged to control the output means to cause the vehicle to perform the defined manoeuvre, the control means being arranged to control the output means to alter a position of a moveable projection of the vehicle during the defined manoeuvre in dependence on the environment signal. Advantageously the vehicle may be caused to alter the position of the moveable projection to suit the environment.

The controller as described above, wherein:

the input means may comprise an electrical input for receiving the signal;

the output means may comprise an electrical output for outputting the signal; and the control means may comprise one or more control devices such as electronic processing devices.

The defined manoeuvre may comprise a parking manoeuvre. The parking manoeuvre may comprise an in-parking manoeuvre, such as parking into a space to a stationary position. The parking manoeuvre may comprise an un-parking manoeuvre, such as parking out of a space from a stationary position. A defined manoeuvre completed position may comprise a parked position.

The input means may be arranged for receiving the environment signal from an environment sensing means associated with the moveable projection of the vehicle. Advantageously, there may be at least a portion of the environment sensing means associated with the moveable projection, such as connected to or in the moveable projection.

The controller may comprise a memory means for storing data therein. The memory means may be arranged to store data received via the input means prior to altering the position of the moveable projection of the vehicle. The memory means may be arranged to store data received prior to and/or during and/or subsequent to the performance of the defined manoeuvre. Advantageously, the controller may be able to store data, such as of the environment, for subsequent use of the data.

The control means may be arranged to control the output means in dependence upon the data stored in the memory means. Advantageously, the control means may be able to use data, such as previously stored data about the environment, to control the output means, such as when it is less able to obtain data or such data from the input means.

The control means may be arranged to control the output means to cause the moveable projection of the vehicle to be altered during the defined manoeuvre in dependence upon the data stored in the memory means. The control means may be able to use stored data after it is no longer possible or less able to obtain data to control the position of the moveable projection, such as where the environment sensing means has been reconfigured or repositioned (e.g. where the environment sensing means is associated with the moveable projection).

The control means may be arranged to control the output means to reconfigure the moveable projection of the vehicle during a parking defined manoeuvre from an expanded position of the moveable projection of the vehicle to a collapsed position of the moveable projection of the vehicle. Advantageously, the control means may be able to cause the vehicle to adopt a particular configuration (e.g. smaller, or narrower) during the parking defined manoeuvre.

The control means may be arranged to control the output means to alter the position of the moveable projection of the vehicle during an unparking defined manoeuvre from a collapsed position of the moveable projection of the vehicle to an expanded position of the moveable projection of the vehicle. Advantageously, the control means may be able to cause the vehicle to adopt another particular configuration (e.g. with a deployed, fully-deployed or activated moveable projection) during the unparking defined manoeuvre, such as to allow completion of the defined manoeuvre and/or subsequent performance of the vehicle with the moveable projection in a normal driving use configuration (e.g. with the deployed, fullydeployed or activated moveable projection).

The control means may be arranged to control the output means to cause the position of the moveable projection of the vehicle to be altered during the defined manoeuvre in dependence on the environment signal being indicative of a feature, such as a feature in proximity of the vehicle or moveable projection, in a location proximal to a projected or predicted vehicle trajectory, particularly that of the movable projection. Advantageously, the moveable projection’s position can be altered to accommodate or assist a future path or trajectory of the vehicle.

The controller may comprise a second input means for receiving a request signal indicative of a received signal indicative of a user request. The request signal may be indicative of a wired or a wirelessly received signal indicative of a user request, such as from a user’s mobile device. Advantageously this may allow the vehicle to be effectively instructed from a user’s mobile device, such as remotely instructed.

The user may comprise an occupant. The user may comprise a driver of the vehicle. The user may be located in the vehicle. The user may be located out of the vehicle, such as for at least a portion of performance of the defined manoeuvre. The vehicle may comprise one or more non-driver occupants. In at least some examples, one or more users and/or occupants may be located in and/or out of the vehicle.

The moveable projection may comprise one or more of: a vehicle mirror, such as a side mirror; a vehicle image sensing means, such as a camera; Lidar; ultrasonic sensor; or the like. The expanded position of the moveable projection may comprise an active configuration of the moveable projection. The collapsed position of the moveable projection may comprise an inactive configuration of the moveable projection.

The control means may be arranged to determine a vacancy. The control means may be arranged to define at least one vehicle envelope within the vacancy, the vehicle envelope being suitable for receiving the vehicle in the defined manoeuvre completed position. The control means may be arranged to define within the vacancy at least one defined manoeuvre completed position for the vehicle.

The vehicle envelope may comprise a target position suitable for receiving the vehicle in the defined manoeuvre completed position. The vehicle envelope may comprise a target defined manoeuvre completed position. The vehicle envelope may be determined in dependence on a one-dimensional property and/or measurement and/or estimation. The vehicle envelope may be determined in dependence on the environment signal being indicative of a length, such as an unobstructed length between features, the unobstructed length being sufficiently long for receiving the vehicle in the defined manoeuvre completed position. The vehicle envelope may be determined in dependence on a two-dimensional property and/or measurement and/or estimation. For example, the vehicle envelope may be determined in dependence on the environment signal being indicative of a length, such as between features, wherein along that length there is no obstruction within a particular width or breadth perpendicular to the length. The particular width or bready may correspond to at least a width or breadth of the vehicle, such as a vehicle width when the vehicle is parked and in a closed configuration, such as with vehicle aperture members closed. The particular width or breadth may correspond to at least a length of the vehicle, such as a vehicle length when the vehicle is parked and in the closed configuration in a perpendicular or parking lot or fishbone diagonal parked position. The vehicle envelope may comprise at least one dimension of a parking area and the received vehicle position may be a parked position. The vehicle envelope may correspond to a predefined parking space. The vehicle envelope may comprise a target length, area or volume for receiving the vehicle in or on in the defined manoeuvre completed position.

The control means may be arranged to define at least two vehicle envelopes within the vacancy, each vehicle envelope comprising a discrete defined manoeuvre completed position that is offset within the vacancy.

The vehicle envelopes may be non-overlapping. Alternatively, the vehicle envelopes may be overlapping.

The vehicle envelopes may extend in respective longitudinal directions adjacent and parallel each other. Alternatively, the vehicle envelopes may extend along a same longitudinal axis, with a first vehicle envelope being longitudinally displaced along the longitudinal axis from a second vehicle envelope. In a yet further alternative, the vehicle envelopes may be arranged with non-parallel longitudinal axes, such as with a first vehicle envelope having a longitudinal axis perpendicular to a longitudinal axis of a second vehicle envelope.

According to an aspect of the invention, there is provided a system comprising: the controller as described above, arranged to receive the environment signal and to output the manoeuvre signal; environment sensing means for determining the location of one or more features in the vicinity of the vehicle and outputting the environment signal indicative thereof.

The system may comprise actuator means for receiving the manoeuvre signal to cause the vehicle to perform the defined manoeuvre.

The system may comprise: receiver means for receiving a signal indicative of a user request for vehicle movement and outputting a request signal in dependence thereon. The receiver means may be for wirelessly receiving a signal from a mobile user device indicative of the user request.

The controller may be arranged to control the output means for performing the defined manoeuvre in dependence upon a presence of an occupant in the vehicle.

According to an aspect of the invention, there is provided a method of controlling movement of a vehicle to perform a defined manoeuvre, the method comprising: receiving an environment signal indicative of a location of one or more features in a vicinity of the vehicle; and controlling an output means in dependence on the environment signal such that a moveable projection of the vehicle is caused to be positioned during the defined manoeuvre in dependence on the environment signal.

The method may comprise altering a position of the moveable projection of the vehicle mirror with respect to a feature in the vicinity of the vehicle.

The method may comprise determining the location of the one or more features with an environment sensing means and outputting the environment signal from the environment sensing means.

The environment sensing means may be associated with the moveable projection of the vehicle.

The method may comprise storing data received from the environment sensing means prior to altering the position of or a reconfiguration of the moveable projection.

The method may comprise controlling the output means in dependence on the stored data.

The method may comprise controlling the output means in dependence on the stored data to perform the defined manoeuvre in dependence on the stored data.

The method may comprise controlling the output means in dependence on the stored data to alter the position of or configure the moveable projection during the defined manoeuvre in dependence upon the stored data.

The method may comprise altering the position of or reconfiguring the moveable projection of the vehicle between an expanded position and a collapsed position during the defined manoeuvre.

The method may comprise receiving a signal indicative of a user request to perform the defined manoeuvre. The method may comprise receiving the signal from a mobile device indicative of the user request to perform the defined manoeuvre.

According to an aspect of the invention, there is provided a vehicle comprising a controller according to an aspect of the invention, a system according to an aspect of the invention or arranged to perform a method according to an aspect of the invention.

According to an aspect of the invention, there is provided computer software which, when executed by a processing means, is arranged to perform a method according to an aspect of the invention. The computer software may be stored on a computer readable medium. The computer software may be tangibly stored on a computer readable medium. The computer readable medium may be non-transitory.

Any controller or controllers described herein may suitably comprise a control unit or computational device having one or more electronic processors. Thus the system may comprise a single control unit or electronic controller or alternatively different functions of the controller may be embodied in, or hosted in, different control units or controllers. As used herein the term “controller” or “control unit” will be understood to include both a single control unit or controller and a plurality of control units or controllers in a control system collectively operating to provide any stated control functionality. To configure a controller, a suitable set of instructions may be provided which, when executed, cause said control unit or computational device to implement the control techniques specified herein. The set of instructions may suitably be embedded in said one or more electronic processors. Alternatively, the set of instructions may be provided as software saved on one or more memory associated with said controller to be executed on said computational device. A first controller may be implemented in software run on one or more processors. One or more other controllers may be implemented in software run on one or more processors, optionally the same one or more processors as the first controller. Other suitable arrangements may also be used.

Within the scope of this application it is expressly intended that the various aspects, embodiments, examples and alternatives set out in the preceding paragraphs, in the claims and/or in the following description and drawings, and in particular the individual features thereof, may be taken independently or in any combination. That is, all embodiments and/or features of any embodiment can be combined in any way and/or combination, unless such features are incompatible. The applicant reserves the right to change any originally filed claim or file any new claim accordingly, including the right to amend any originally filed claim to depend from and/or incorporate any feature of any other claim although not originally claimed in that manner.

BRIEF DESCRIPTION OF THE DRAWINGS

One or more embodiments of the invention will now be described by way of example only, with reference to the accompanying drawings, in which:

Figure 1a shows a vehicle in relation to a feature in a vicinity of the vehicle;

Figure 1b shows the vehicle in relation to the feature in the vicinity of the vehicle in another scenario;

Figure 2 shows a controller according to an embodiment of the invention;

Figure 3 shows a system according to an embodiment of the invention;

Figure 4 shows a method according to an embodiment of the invention;

Figure 5a illustrates movement of a vehicle according to an embodiment of the invention;

Figure 5b illustrates movement of the vehicle in another scenario; and

Figure 6 is a vehicle according to an embodiment of the invention.

DETAILED DESCRIPTION

Figures 1a and 1b illustrate a vehicle 110 according to an embodiment of the invention in two different scenarios. In Figures 1a and 1b, the vehicle 110 is illustrated as having a vehicle forward direction, indicated by arrow 114, shown parallel to a central longitudinal axis 112 of the vehicle 110. In both scenarios, the vehicle 110 is illustrated at a defined manoeuvre start position with a defined manoeuvre completed position of the vehicle 110 shown in broken lines. In both particular scenarios shown in Figures 1a and 1b, it may be desirable to perform a defined manoeuvre to park the vehicle 110 in the defined manoeuvre completed position in a vacancy 172.

In Figure 1(a) the vehicle 110 is shown in broken line at a target or desired defined manoeuvre completed position in a vehicle envelope 174 in the vacancy 172, where the defined manoeuvre would have been performed with the vehicle entering the vacancy 172 in a forward direction 114. The vehicle 110 is shown in relation to a feature 125 in a vicinity of the vehicle 110. The feature 125 is, in this example, an object which is a wall that is parallel to the longitudinal axis 112 of the vehicle 110 i.e. generally parallel to a side of the vehicle 110, such as a left side here - in the defined manoeuvre completed position. The object is not limited to being a wall 125 and may be, for example, a bollard, fence, barrier, or other object at or adjacent the vacancy 172. As shown here, another feature 140 in the form of a stationary vehicle bounds an opposite lateral side of the vacancy 172 from the wall feature 125.

In Figure 1a, a dimension of the vehicle, being a width 194 as shown here, is such that the vehicle 110 cannot be manoeuvred into the apparent vehicle envelope 174 in the vacancy 172, as a corresponding dimension, shown here as a width 176, of the vacancy’s vehicle envelope 174 is too small. Accordingly, the vehicle 110 as such would not fit into the vacancy 172, as indicated by vehicle moveable projections 182 overlapping with the features 125, 140. It will be appreciated that although shown here in plan view, the scenarios depicted are three dimensional. Accordingly, in at least some scenarios the features 125 and 140 may be at a similar height as the vehicle moveable projection 182 such that the vehicle moveable projections 182 cannot be overlapping with the features 125, 140 in plan view (e.g. the vehicle projections would be undesirably in contact with the features 125, 140).

Similarly, the vacancy 172 of the scenario of Figure 1b may be such that the vehicle envelope 174 appears suitable for receiving the vehicle 110 therein, with a clearance 192 between the vehicle 110 in the closed configuration at the defined manoeuvre completed position, shown in broken lines, and the adjacent features 125, 140. However, the corresponding dimension 176 of a portion 142 of the vacancy 172 is such that the vehicle 110 would not be able to manoeuvre into the vacancy 172. In particular, manoeuvring the vehicle 110 forwards into the vacancy 172 would have brought the vehicle moveable projection 182 (on a right side of the vehicle 110 as shown) into contact with the portion 142 of the object 140 (e.g. a projection of an adjacent stationary vehicle, as shown here). In Figure 1b, the dimension of the vehicle 110, being the width 194 here, is such that the vehicle 110 cannot be manoeuvred into the apparent vehicle envelope 174 in the vacancy

172, as the corresponding dimension, being the width 176, of the vacancy’s vehicle envelope 174 is less than the vehicle width 194.

Accordingly, in both scenarios it may not be possible to manoeuvre the vehicle 110 into the vacancy 172, at least not without contact between the vehicle and at least one of the features 125, 140, potentially causing damage to the features 125, 140 and/or the vehicle.

Embodiments of the present invention aim to ameliorate one or both of these problems.

It will be understood in both cases shown in Figure 1(a) and (b) that the defined manoeuvre may be a manoeuvre of the vehicle 110 which is performed automatically by the vehicle 110 i.e. under control of one or more systems of the vehicle 110. The defined manoeuvre may be considered to be performed automatically by the vehicle 110, or at least semi autonomously. In Figures 1a and 1b the defined manoeuvre may be a parking manoeuvre to control the vehicle 110 to drive into a parking place.

In both situations, it may be advantageous for the manoeuvre to be performed whilst a person in control of the vehicle 110 is external to the vehicle 110. For example, access to the vehicle 110 may be limited in Figure 1(a) or 1(b) after performing the defined manoeuvre (e.g. where the feature 125 or object 140 forms a hindrance to opening a vehicle door 188).

To perform the defined manoeuvre, the vehicle 110 comprises environment sensing means for determining a location of features 125 in the vicinity of the vehicle 110. The environment sensing means may comprise one or more sensing devices or imaging devices. The one or more sensing devices may emit radiation and receive radiation reflected from the features in the vicinity of the vehicle, such as ultrasonic sensing devices, although it will be appreciated that the present invention is not limited in this respect. Such environment sensing means have a minimum distance to which accuracy the location of the features 125 may be determined due to, for example, a resolution of an imaging device or a signal-to-noise ratio of a sensing device.

In the particular examples shown here, the vehicle 110 comprises a portion of the environment sensing means in or on the vehicle moveable projection 182. For example, each side or wing mirror of the vehicle 110 can have a camera or the like mounted thereto or thereon.

Figure 2 illustrates a controller 200 or control unit 200 according to an embodiment of the invention, such as comprised in the vehicle 110 of Figures 1 (a) and 1 (b).

The controller 200 comprises a control means 210, input means 230 and output means 240. In some embodiments the controller comprises a memory means 220 such as one or more memory devices 220 for storing data therein. The output means 240 may comprise an electrical output for outputting a manoeuvre signal. The manoeuvre signal represents an instruction for the vehicle 110 to move. The instruction provided by the manoeuvre signal is provided to cause the vehicle 110 to perform the defined manoeuvre. Here, the controller 200 may determine that one or more of the features 125, 140 are such that one or more of the vehicle moveable projections 182 should be in a particular position during or at a particular stage of the defined manoeuvre. For example, the controller may determine the feature 140 as having a portion 142 for which one or more of the vehicle moveable projections 182 should be collapsed. Accordingly, the controller 200 may cause the vehicle’s 110 one or more moveable projections 182 to be collapsed, prior to or during the performance of the defined manoeuvre prior to the vehicle’s 110 one or more moveable portions 182 reaching the portion 142. In other examples, the user may explicitly specify or request a position or repositioning of the vehicle’s 110 one or more moveable projections 182. In at least some examples, the control means positions the one or more moveable projections 182 at a default position (e.g. collapsed or expanded) for performing one or more defined manoeuvres.

The control means 210 may be formed by one or more electronic processing devices such as an electronic processor. The processor may operably execute computer readable instructions stored in the one or more memory devices 220. The control means 210 is arranged to control the output means 240 to output the manoeuvre signal in dependence on the environment signal, as will be explained. In some embodiments the input means 230 and output means 240 may be combined such as by being formed by an I/O unit or interface unit. For example, the controller 210 may comprise an interface to a network forming a communication bus of a vehicle. The interface bus may be an Internet Protocol (IP) based communication bus such as Ethernet, although embodiments of the invention are not limited in this respect.

The input means 230 may comprise an electrical input for receiving an environment signal. The input means 230 may comprise an electrical input for receiving a request signal. Here, the request signal is indicative of a wirelessly received signal representing a user request for movement of the vehicle 110.

As shown here, the memory means 220 can be used to store data from the input means 230. In particular, the memory means can store data about the features 125, 140 or the vacancy 172 for future use. For example, where the environment sensing means, or a portion thereof, is associated with the moveable projection 182 (e.g. where a camera or sensor is mounted to or on a wing mirror), then the memory means 220 can store data therefrom prior to performing at least a portion of the defined manoeuvre. Particularly where the moveable projection 182 may be moved to a position affecting environment sensing (e.g. a collapsed position whereby a camera or sensor view may be impeded), then storing data on the features 125, 140 can allow the defined manoeuvre to be performed relative to the features 125 140 - such as including based on historical data thereon. The data may be stored prior to and during performance of the defined manoeuvre, for use during the performance of the defined manoeuvre. In addition, or alternatively, the data may be stored for use during a subsequent defined manoeuvre. The subsequent defined manoeuvre may be shortly after the defined manoeuvre or considerably later. The data may be stored for use for a subsequent reversal of the defined manoeuvre. For example, where the data is stored prior to or during the performance of the defined manoeuvre to arrive at the defined manoeuvre completed position of Figures 1a or 1b as shown in broken lines, then the stored data may be used for or during a subsequent defined manoeuvre, such as an unparking manoeuvre from the defined manoeuvre completed position of Figures 1a or 1b. The data may be stored for use during a subsequent repetition of the defined manoeuvre, such as where the defined manoeuvre is repeated at a later time (e.g. on returning to a same location, such as a garage, parking lot, or the like, where a defined manoeuvre has previously been performed). Where stored data, such as of the features 125, 140, is used for the performance of at least a portion of the defined manoeuvre, the controller 200 may perform a check, such as to the validity or continued validity of the data. For example, the controller may corroborate the data with another input, such as with input from another portion of the environment sensing means (e.g. another sensor or camera located at another portion of the vehicle 110, the another sensor or camera able to confirm the continued presence and/or position of the feature or features 125, 140).

In at least some examples, the controller 210 may comprise a second input means for receiving a request signal indicative of a received signal indicative of a user request, such as a wirelessly received signal.

It will be appreciated that the controller 200 may be arranged to perform a portion of the defined manoeuvre. For example, the user may initiate the manoeuvre with control being transferred to the controller 210 thereafter to complete the defined manoeuvre. In at least some examples, the controller 210 is arranged to alter the position of the moveable projections 182 prior to or without a performance of a defined manoeuvre, such as prior to or during a performance of a manoeuvre under user control. The controller 210 may be arranged to indicate a possibility of altering the position of the one or more moveable projections 182 to the user, and controlling the output means in dependence on the user request therefor. In at least some examples, the controller is arranged to automatically alter the position of the one or more moveable projections 182 without requiring an explicit user request therefor - during a performance of a defined manoeuvre and/or a user-controlled manoeuvre. The portion of the manoeuvre controlled by the controller may consist of altering the position of the one or more moveable projections 182.

Figure 3 illustrates a system 300 according to an embodiment of the invention. The system 300 comprises the controller 210 described above and shown in Figure 2.

The system 300 comprises environment sensing means 330 for determining information about an environment of the vehicle 110. In particular, the environment sensing means 330 is provided for determining a location of one or more features in a vicinity of the vehicle 110. In at least some examples, a portion of the environment sensing means is associated with the one or more moveable projections 182, such as one or more sensors or cameras mounted in or on a vehicle wing mirror. The environment sensing means 330 is arranged to output an environment signal indicative of the determined features. The environment signal may be environment data which may be stored in a memory. The environment sensing means may comprise one or more sensing devices such as imaging devices, such as cameras, or other sensing devices such as LIDAR, radar, ultrasonic devices, sonar devices etc. Signals output by each of the sensing devices may be used to form a representation of the environment of the vehicle 110 which is stored in the memory for use by other systems of the vehicle 110.

Here, the environment sensing means 330 is arranged to determine a location of features such as surface markings, which may be painted lines denoting a perimeter of a parking bay, for example, or objects such as walls, posts or other vehicles in relation to which the vehicle is required to manoeuvre. The control means is arranged to determine an absence of features, such as a separation between obstructive features, such as the adjacent feature 125 and object 140 shown here, in dependence on the environment signal. Accordingly, the control means is arranged to determine a vacancy 172 where no features, such as no obstructive features, are located. Where the vacancy 172 is sufficiently great, the control means is arranged to determine a vehicle envelope 174 suitable for receiving the vehicle 110 in the defined manoeuvre completed position. The vehicle envelope 174 comprises a target position suitable for receiving the vehicle 110 in the defined manoeuvre completed position. As such, the vehicle envelope 174 here comprises a target defined manoeuvre completed position. In at least this example, the vehicle envelope 174 is determined in dependence on a one-dimensional property and/or measurement and/or estimation. In particular here, the vehicle envelope 174 is determined in dependence on the environment signal being indicative of a length, such as an unobstructed length between features 125, 140. The unobstructed length is sufficiently long for receiving the vehicle 110 in the defined manoeuvre completed position, the length here being the separation 176 between features 125, 140 that is greater than the vehicle width 194 in the defined manoeuvre completed position. The defined manoeuvre may comprise, for example, parking in a parked position.

The controller 210 of the system 300 here comprises defined manoeuvre means. The control means is arranged to control the vehicle 110 to perform at least one defined manoeuvre. The controller 210 may comprise a defined manoeuvre controller for controlling one or more systems of the vehicle 110 to perform one or more defined manoeuvres. The defined manoeuvre means may be associated with one or more actuators 350 of the vehicle 110. The one or more actuators 350 are provided for effecting movement of the vehicle 110. The actuators may comprise one or more of a power steering mechanism arranged to provide steering of wheels of the vehicle 110 in dependence on signals received from the controller 210. A second actuator may comprise a powered braking mechanism of the vehicle 110 which is arranged to actuate brakes of the vehicle in dependence on signals received from the controller 210. A third actuator comprises the powertrain of the vehicle. The controller 210 is arranged to control the steering of the vehicle wheel 180 relative to the feature 125. A fourth actuator 350 comprises one or more mechanisms for altering the position of the one or more moveable projections 182.

The system 300 shown here comprises a motive control means 320. The motive control means 320 may be a motive control unit. The motive control means 320 is arranged to receive the manoeuvre signal output by the controller 210. The motive control means 320 is associated with one or more motive units of the vehicle 110 which may form part of a powertrain (not shown) of the vehicle 110. The motive units may comprise one or more of an internal combustion engine and one or more electric machines of the vehicle 110. The powertrain is arranged to provide power, or torque, to cause movement in the longitudinal axis of the vehicle 110 i.e. forward or backward movement of the vehicle 100 in dependence on the manoeuvre signal received from the controller 210. The motive control means 320 is arranged to control the application of torque to one or more wheels of the vehicle 110 to move the vehicle 110 in the longitudinal axis of the vehicle i.e. to move the vehicle generally forwards or backwards. The torque may comprise driving torque i.e. applied in a direction of desired movement, such as forwards. The torque may also comprise braking torque i.e. applied to resist the driving torque. In at least some embodiments both driving torque and braking torque may be applied simultaneously in order to provide low-speed movement of the vehicle 110. The braking torque may also be applied at least partly after the driving torque in order to effect accurate movement of the vehicle 110. To achieve control of the steering, the controller 210 may communicate with the motive control means 320. Thus, the one or more actuators 350 can control a direction and movement of the vehicle to perform the defined manoeuvre. The defined manoeuvre is performed in dependence on the environment signal provided by the environment sensing means 330.

The one or more defined manoeuvres which may be performed by the vehicle 110 under control of the controller 210 may comprise a parking manoeuvre, such as shown in Figures 1(a) and 1(b) wherein the vehicle 110 is controlled to arrive at a parked position.

As shown here, the system 300 comprises a receiver means 310 for receiving a signal 305. The signal 305 may be wirelessly received from a mobile device 390 associated with a person responsible for the vehicle 110. The signal 305 is indicative of a user request for vehicle movement of the vehicle 110, as noted above. The receiver means 310 is arranged to output the request signal to the input means 230 of the controller 210 as described above. The request signal may be output by the receiver means 310 onto a communication bus of the vehicle 110 which may communicably couple the components of the system 300.

The receiver means 310 may be in the form of a radio unit 310. The radio unit 310 may comprise a receiver for receiving radio signals 305 from the mobile device 390. In some embodiments, the radio unit 310 may also comprise a transmitter, or may be a transceiver 310 configured to receive radio signals 305 transmitted from the mobile device 390 and transmit signals to the mobile device 390. The radio unit 103 and the mobile device 390 may be arranged to provide a wireless local area network, via which two-way communication may take place between the radio unit 103 and the mobile device 390. For example, the radio unit 103 may be arranged to communicate by WiFi (RTM) with the mobile device 390. In alternative embodiments, other radio communication standards may be used for the communication. In one example, communication between the radio unit 103 and the mobile device 390 is provided via Bluetooth (RTM), although other protocols or standards may be envisaged.

The mobile device 390 may be an electronic key fob associated with the vehicle 110, such as may be used to gain entry and to activate or power up the vehicle 110. The mobile device 390 may, in other embodiments, be an electronic device associated with the person responsible for the vehicle 100 such as a mobile telephone, tablet, watch, wearable electronic device or other computing device associated with the person. The mobile device 390 is capable of receiving a user input indicating the person’s desire to move the vehicle 110. The user input may be provided in the form of a button or key press, activation of a graphically displayed icon, a gesture or voice command. Other forms of user input may also be envisaged.

Figure 4 illustrates a method 400 according to an embodiment of the invention. The method 400 is a method of controlling movement of the vehicle 110. The method 400 may be formed by the controller 210 and system 300 described above with reference to Figures 2 and 3. The method 400 will be described with reference to Figures 5(a) and 5(b) as examples which correspond to the situations shown in Figure 1(a) and 1(b) respectively.

The method 400 broadly comprises steps of receiving 410 the environment signal from the environment sensing means 330 which is indicative of a feature 125 in a vicinity of the vehicle 110 and, in dependence thereon, determining whether a position of the one or more moveable projections 182 of the vehicle 182 should be or will need to be altered.

Referring to Figure 4, the illustrated embodiment of the method 400 comprises a step of receiving 410 the environment signal from the environment sensing means 330. The controller 210 determines 420 whether the environment signal is indicative of one or more features 125 in the vicinity of the vehicle 110 corresponding to a scenario for which the position or positions of the one or more moveable projections 182 may be desired to be altered, prior to or during the performance of the defined manoeuvre 440.

In Figures 5a and 5b, the vehicle 110 is illustrated as being located in a defined manoeuvre completed position in a vehicle envelope 174 defined in a vacancy 172 bounded by adjacent features 125, 140, similar to Figures 1(a) and 1(b). In Figures 5a and 5b, the vehicle 110 is shown in the defined manoeuvre completed position with the vehicle 110 in a closed configuration with a separation 192 between the vehicle 110 and adjacent features 125, 140 respectively on each lateral side of the vehicle 110. As shown here, the closed configuration of the vehicle 110 comprises a collapsed position of the moveable projection 182 of the vehicle 110, shown here as a side mirror. As shown here, the defined manoeuvre performed to arrive at the defined manoeuvre completed positions of Figures 5a and 5b has been performed with the vehicle in an occupant-out-of-vehicle mode. Here, the defined manoeuvre into the positions of Figure 5a and 5b has been performed with the occupant located out of the vehicle for at least a last portion of the defined manoeuvre. As will be appreciated, the dimensions of the vehicle envelope 174 defined by the vacancy 172 are such that at least some vehicle aperture members 188 are inaccessible or at least not fully openable. Accordingly, access to and from the vehicle apertures by the vehicle aperture members 188 is impeded. Furthermore, the dimensions of the vehicle envelope 174 defined by the vacancy 172 are such that performance of the defined manoeuvre may have been impeded or prevented by the vehicle projections 182 in an expanded position, such as the expanded positions of the vehicle projections 182 shown in Figures 1(a) and 1(b). Accordingly, the performance of the defined manoeuvre to arrive at the defined manoeuvre completed positions of Figures 5a and 5b has included altering the position of the moveable projections 182 prior to or during the defined manoeuvre, in dependence on the environment signal. Here, the mode of performance for performing the defined manoeuvre has included a vehicle collapsed projection mode.

As will be appreciated from Figures 5a and 5b in particular, the alteration of the position of the one or more moveable projections prior to the completion of the defined manoeuvre, allows the vehicle 110 to be manoeuvred into vacancies 172 in a defined manoeuvre, which otherwise may not have been possible. The dimension 194 of the vehicle 110 during the performance of the portion of the defined manoeuvre where the corresponding dimension 176 of the vacancy 172 would otherwise impede or prevent the performance (as shown in Figures 1a and 1b) is less with the altered position of the moveable projections 182 (e.g. less than in Figures 1a and 1b). In particular, the vehicle width 194 is reduced as shown here for performing at least those portions of the defined manoeuvre. Accordingly, the vehicle 110 is able to be manoeuvred into more restricted vacancies 172 with defined manoeuvres than may otherwise be possible.

Once in the defined manoeuvre completed position, being parked positions in Figures 5(a) and 5(b), the user typically applies a parking brake, to leave the vehicle 110 secured stationary with the engine switched off.

The controller 210 may be arranged to allow for user adaptation. For example, the user may be able to at least partially override, program or adjust the controller 210 such that one or more of the following: a separation or clearance threshold for altering the position of the one or more moveable projections is adaptable; which one or more moveable projections is/are repositionable; a parameter for determining a positioning of the one or more moveable projections (e.g. a timing, prompt, or particular input). The controller 210 may be arranged to be manually overridden, programmed or adjusted, such as to adjust the output of the manoeuvre signal. Additionally, or alternatively, the controller 210 may be arranged to automatically, or semi-automatically, override, program or adjust the output of the manoeuvre signal, such as by learning from a user behaviour, such as a repeated user behaviour, associated with one or more of: an input pattern; a geographic location; a user identity (e.g. where the vehicle 110 is used noncontemporaneously by multiple users). For example, the controller 210 may be arranged to automatically alter the position of the one or more moveable projections 182 when the vehicle is positioned at a particular location, such as a home or garage where the user has previously performed a defined manoeuvre into a known vacancy.

It will be appreciated that other defined manoeuvres than illustrated may be performed. For example, the vehicle 110 may be reversed into the vacancy 172. Similarly, the moveable projection 182 may be at a different location on the vehicle or project in a different direction. For example, the moveable projection 182 may project upwardly and/or axially from the vehicle, in addition and/or alternatively to the lateral projections shown in Figures 1a and 1b (e.g. the moveable projection may be an antenna or camera or other vehicle portion projecting upwards or rearwards from the vehicle 110).

As a result of the method 400 the vehicle may be more advantageously positioned or configured following performance of a defined manoeuvre. It will also be appreciated that embodiments of the present invention are not limited to being useful in association with a defined manoeuvre. It may be useful to alter the position of a moveable projection of the vehicle in dependence on the environment signal even when parked or when having being driven by a human driver.

It will be appreciated that embodiments of the present invention can be realised in the form of hardware, software or a combination of hardware and software. Any such software may be stored in the form of volatile or non-volatile storage such as, for example, a storage device like a ROM, whether erasable or rewritable or not, or in the form of memory such as, for example, RAM, memory chips, device or integrated circuits or on an optically or magnetically readable medium such as, for example, a CD, DVD, magnetic disk or magnetic tape. It will be appreciated that the storage devices and storage media are embodiments of machine-readable storage that are suitable for storing a program or programs that, when executed, implement embodiments of the present invention. Accordingly, embodiments provide a program comprising code for implementing a system or method as claimed in any preceding claim and a machine-readable storage storing such a program. Still further, embodiments of the present invention may be conveyed electronically via any medium such as a communication signal carried over a wired or wireless connection and embodiments suitably encompass the same.

All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and/or all of the steps of any method or process so disclosed, may be combined in any combination, except combinations where at least some of such features and/or steps are mutually exclusive.

Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. Thus, unless expressly stated otherwise, each feature disclosed is one example only of a generic series of equivalent or similar features.

The invention is not restricted to the details of any foregoing embodiments. The invention extends to any novel one, or any novel combination, of the features disclosed in this specification (including any accompanying claims, abstract and drawings), or to any novel one, or any novel combination, of the steps of any method or process so disclosed. The claims should not be construed to cover merely the foregoing embodiments, but also any embodiments which fall within the scope of the claims.

Claims (24)

1. A controller comprising:

input means for receiving an environment signal indicative of a location of one or more features in a vicinity of a vehicle;

output means for outputting a manoeuvre signal to cause the vehicle to perform a defined manoeuvre; and control means arranged to control the output means to cause the vehicle to perform the defined manoeuvre, the control means being arranged to control the output means to alter a position of a moveable projection of the vehicle during the defined manoeuvre in dependence on the environment signal.

2. The controller of claim 1, wherein the input means is arranged for receiving the environment signal from an environment sensing means associated with the moveable projection of the vehicle.

3. The controller of claim 1 or 2, wherein the controller comprises a memory means for storing data therein, the memory means being arranged to store data received via the input means prior to altering the position of the moveable projection of the vehicle.

4. The controller of claim 3, wherein the control means is arranged to control the output means in dependence upon the data stored in the memory means.

5. The controller of claim 4, wherein the control means is arranged to control the output means to cause the moveable projection of the vehicle mirror to be altered during the defined manoeuvre in dependence upon the data stored in the memory means.

6. The controller of any preceding claim, wherein the defined manoeuvre is a parking manoeuvre.

7. The controller of claim 6, wherein the control means is arranged to control the output means to reconfigure the vehicle mirror during a parking-in defined manoeuvre from an expanded position of the moveable projection of the vehicle to a collapsed position of the moveable projection of the vehicle.

8. The controller of claim 6 or 7, wherein the control means is arranged to control the output means to reconfigure the moveable projection of the vehicle during an unparking defined manoeuvre from a collapsed position of the moveable projection of the vehicle to an expanded position of the moveable projection of the vehicle.

9. The controller of any preceding claim, wherein the control means is arranged to control the output means to cause the position of the moveable projection of the vehicle to be altered during the defined manoeuvre in dependence on the environment signal being indicative of a feature in a location of the vehicle proximal to a projected vehicle trajectory.

10. The controller of any preceding claim, wherein the controller comprises a second input means for receiving a request signal indicative of a wirelessly received signal indicative of a user request.

11. A system comprising:

the controller of any preceding claim, arranged to receive the environment signal and to output the manoeuvre signal;

environment sensing means for determining the location of one or more features in the vicinity of the vehicle and outputting the environment signal indicative thereof.

12. The system of claim 11 comprising actuator means for receiving the manoeuvre signal to cause the vehicle to perform the defined manoeuvre.

13. The system of claim 11 or 12, comprising receiver means for receiving a signal from a user indicative of a user request for vehicle movement and outputting a request signal in dependence thereon.

14. The system of any of claims 11 to 13, wherein the controller is arranged to control the output means for performing the defined manoeuvre in dependence upon a presence of an occupant in the vehicle.

15. A method of controlling movement of a vehicle to perform a defined manoeuvre, the method comprising:

receiving an environment signal indicative of a location of one or more features in a vicinity of the vehicle; and controlling an output means in dependence on the environment signal such that a moveable projection of the vehicle is caused to be positioned during the defined manoeuvre in dependence on the environment signal.

16. The method of claim 15, comprising altering a position of the moveable projection of the vehicle with respect to a feature in the vicinity of the vehicle.

17. The method of either of claims 15 or 16, wherein the method comprises determining the location of the one or more features with an environment sensing means and outputting the environment signal from the environment sensing means.

18. The method of claim 17, wherein the environment sensing means is associated with the moveable projection of the vehicle.

19. The method of claim 17 or 18, comprising storing data received from the environment sensing means prior to a reconfiguration of the moveable projection of the vehicle.

20. The method of claim 19, comprising controlling the output means in dependence on the stored data.

21. The method of claim 20, comprising controlling the output means in dependence on the stored data to perform the defined manoeuvre in dependence upon the stored data.

22. The method of claim 20 or 21, comprising controlling the output means in dependence on the stored data to configure the moveable projection of the vehicle during the defined manoeuvre in dependence upon the stored data.

23. The method of any of claims 15 to 22, comprising reconfiguring the moveable projection of the vehicle between an expanded position and a collapsed position during the defined manoeuvre.

24. A vehicle comprising a controller according to any of claims 1 to 10, a system according to any of claims 11 to 14 or arranged to perform a method according to any of claims 15 to 23.

25 Computer software which, when executed by a processing means, is arranged to perform a method according to any of claims 15 to 23, optionally where stored on a computer readable non-transitory medium.