GB2574388A - Apparatus and method for controlling vehicle movement - Google Patents

Abstract

A controller (200), comprising input means (230) for receiving an environment signal indicative of a feature 125, 140, 150 in a vicinity of a vehicle 110, output means (240) for outputting a manoeuvre signal to cause the vehicle to perform a defined manoeuvre to a defined manoeuvre completed position; and control means arranged to determine a planned trajectory to perform the defined manoeuvre within a number of trajectory parts to the defined manoeuvre completed position within a defined tolerance range relative to a feature in the vicinity of the vehicle, in dependence on the environment signal. The number of trajectory parts and the tolerance range may be inversely related, such that more trajectory parts are allowed for a smaller range or parking space and fewer trajectory parts are allowed for a larger range or parking space. Each sequential trajectory part may be in an opposite vehicle longitudinal direction relative to a preceding trajectory part, such that the vehicle may move back and forth to arrive within the tolerance range (angle or distance) of the feature.

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 e.g. 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 drivers like the vehicle to be neatly parked, desiring a precise parked position of the vehicle. Often drivers like the defined manoeuvre to be performed swiftly.

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 cause a vehicle to perform a defined manoeuvre within a number of trajectory parts, the number being selectively adapted in dependence on an environment signal.

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 to a defined manoeuvre completed position; and control means arranged to control the output means to cause the vehicle to perform the defined manoeuvre, the control means being arranged to determine a planned trajectory to perform the defined manoeuvre within a number of trajectory parts to the defined manoeuvre completed position within a defined manoeuvre completed position tolerance range relative to a feature in the vicinity of the vehicle, wherein the control means is arranged to determine the defined manoeuvre completed position tolerance range in dependence on the environment signal. Advantageously the vehicle may be caused to perform the defined manoeuvre within a number of trajectory parts that is adaptable for features in the vicinity of the vehicle.

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. The defined manoeuvre completed position may comprise a parked position.

The control means may be arranged to determine the number of trajectory parts in dependence on the defined manoeuvre completed position tolerance range. Advantageously, the number of trajectory parts may be adapted to suit the defined manoeuvre completed position tolerance range.

The control means may be arranged to inversely relate the number of trajectory parts to the defined manoeuvre completed position tolerance range such that the defined manoeuvre is limited to a smaller number of trajectory parts when the defined manoeuvre completed position tolerance range is larger and the defined manoeuvre is limited to a larger number of trajectory parts when the defined manoeuvre completed position tolerance range is smaller. Advantageously the number of trajectory parts may be in proportion to the size of the defined manoeuvre completed position tolerance range, such as inversely proportionate. Accordingly the preciseness or neatness of the defined manoeuvre completed position may be relative to a vehicle envelope within which the vehicle is positioned.

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 defined manoeuvre completed 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 two vehicle envelopes may be non-overlapping. Alternatively, the two vehicle envelopes may be overlapping.

The two vehicle envelopes may extend in respective longitudinal directions adjacent and parallel each other. Alternatively, the two 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 envelops 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.

The control means may be arranged to determine both the defined manoeuvre completed position tolerance range and the number of trajectory parts in dependence on the environment signal being indicative of a vehicle envelope parameter of a vehicle envelope for receiving the vehicle. Advantageously, both the number of trajectory parts and the defined manoeuvre completed position tolerance range may be adapted to suit the vehicle envelope in which the vehicle is positioned in the defined manoeuvre completed position.

The control means may be arranged to provide a larger defined manoeuvre completed position tolerance range for a vehicle envelope with a larger vehicle envelope parameter. For example, the vehicle envelope parameter may be one or more dimensions, such as a separation to or between one or more features in the vicinity of the vehicle. Advantageously the defined manoeuvre completed position tolerance range may be larger when the vehicle envelope is larger, such as to allow a less precise defined manoeuvre completed position when there is a larger separation to one or more features in the vicinity of the vehicle. For example, where the vehicle envelope comprises a bigger parking space, there may be a larger tolerance range provided (e.g. the vehicle may be less precisely positioned in the space).

The control means may be arranged to provide a smaller number of trajectory parts for a vehicle envelope with a larger vehicle envelope parameter. Advantageously the defined manoeuvre completed position tolerance range may be smaller when the vehicle envelope is smaller, such as to allow a more precise defined manoeuvre completed position when there is a smaller separation to one or more features in the vicinity of the vehicle.

The control means may be arranged to determine at least one of the defined manoeuvre completed position tolerance range and the number of trajectory parts in dependence on a location of a vehicle occupant. The location of the occupant may be within the vehicle, such as of a driver in a driving seat. Advantageously, the number of trajectory parts or the defined manoeuvre completed position tolerance range can be adapted to suit whether one or more occupants are in or out of the vehicle. For example, the control means may be arranged to allow fewer trajectory parts for a quicker defined manoeuvre when there is a vehicle occupant, such as the driver, present in the vehicle (and optionally vice versa, such as when there is no vehicle occupant present). Alternatively, the control means may be arranged to allow more trajectory parts for a more precise defined manoeuvre completed position when there is a vehicle occupant, such as the driver, present in the vehicle (and optionally vice versa, such as when there is no vehicle occupant present).

The control means may be arranged to determine at least one of the defined manoeuvre completed position tolerance range and the number of trajectory parts in dependence on a mode for performing the defined manoeuvre. The mode of performance may comprise one or more of: at least one mode corresponding to an occupant-in-vehicle mode; and at least one mode corresponding to an occupant-out-of-vehicle mode. Advantageously the performance of the defined manoeuvre (e.g. the number of trajectory parts or changes of direction) may be adapted to suit a mode of performance, such as for whether an occupant is located in or out of the vehicle (e.g. for physical and/or psychological effects on the user).

The number of number of trajectory parts within which the defined manoeuvre is performed may be a maximum number of trajectory parts. Advantageously, the defined manoeuvre may be limited to a maximum number of parts, such the defined manoeuvre, or at least a user’s perception thereof, is not performed in too many trajectory parts.

The planned trajectory may be from a defined manoeuvre start position to the defined manoeuvre completed position. The number of trajectory parts may be a total number of trajectory parts from the defined manoeuvre start position to the defined manoeuvre completed position. Advantageously, the entire defined manoeuvre may be performed with a limited total number of trajectory parts, such as may be deemed acceptable or desirable physically and/or psychologically to the user.

The defined manoeuvre completed position tolerance range may comprise at least one of an angular range and a distance range relative to the feature in the vicinity of the vehicle. Advantageously, the defined manoeuvre completed position tolerance range can help ensure that the vehicle is aligned and/or spaced (e.g. from or relative to at least one feature in the vicinity) as may be desired or required by a user.

The control means may be arranged to determine each sequential trajectory part being in an opposite vehicle longitudinal direction relative to a preceding trajectory part. Advantageously, the vehicle may be caused to iteratively or sequentially move backwards then forwards (or vice versa), such as may provide consecutive continuous movements in any single longitudinal direction.

The controller may comprise an input means for receiving a request signal indicative of a received signal indicative of a user request for vehicle movement. 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. For example, the request signal may indicate a user request (e.g. for performance of a portion of a particular defined manoeuvre) that has been sent wirelessly from a mobile device and received by the controller or another device or system connected thereto. 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.

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 arranged to determine the location of the one or more features in the vicinity of the vehicle; and 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 system may comprise user input means for receiving user input for configuring the control means to determine at least one of the defined manoeuvre completed position tolerance range and the number of trajectory parts.

The system may comprise location input means for receiving location input for configuring the control means to determine at least one of the defined manoeuvre completed position tolerance range and the number of trajectory parts in dependence on a location parameter.

According to an aspect of the invention, there is provided a method of controlling movement of a vehicle to perform a defined manoeuvre to a defined manoeuvre completed position, the method comprising: receiving an environment signal indicative of a location of one or more features in a vicinity of the vehicle; determining a defined manoeuvre completed position tolerance range in dependence on the environment signal; determining a planned trajectory to perform the defined manoeuvre within a number of trajectory parts to the defined manoeuvre completed position within the defined manoeuvre completed position tolerance range relative to a feature in the vicinity of the vehicle; and outputting a manoeuvre signal to cause the vehicle to perform the defined manoeuvre.

The method may comprise determining the number of trajectory parts in dependence on the defined manoeuvre completed position tolerance range.

The method may comprise inversely relating the number of trajectory parts to the defined manoeuvre completed position tolerance range such that the defined manoeuvre is performed in a smaller number of trajectory parts when the defined manoeuvre completed position tolerance range is larger and the defined manoeuvre is limited to a larger number of trajectory parts when the defined manoeuvre completed position tolerance range is smaller.

The method may comprise determining both the defined manoeuvre completed position tolerance range and the number of trajectory parts in dependence on the environment signal being indicative that a vehicle envelope parameter of a vehicle envelope for receiving the vehicle is above a threshold.

The method may comprise providing a larger defined manoeuvre completed position tolerance range for a vehicle envelope with a larger vehicle envelope parameter.

The method may comprise providing a smaller number of trajectory parts for a vehicle envelope with a smaller vehicle envelope parameter.

The method may comprise determining at least one of the defined manoeuvre completed position tolerance range and the number of trajectory parts in dependence on a location of a vehicle occupant.

The method may comprise sequentially moving the vehicle in a single alternate longitudinal vehicle direction with each sequential trajectory part, such that each trajectory part is in an opposite longitudinal vehicle direction to at least one of an immediately preceding and an immediately subsequent trajectory part.

The method may comprise receiving a signal indicative of a user request for vehicle movement and outputting a request signal in dependence thereon.

The method may comprise determining at least one of the number of trajectory parts and the defined manoeuvre completed position tolerance range in dependence on an ambient condition signal.

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;

Figures 5a to 5e illustrate sequentially the vehicle performing a defined manoeuvre according to an embodiment of the invention;

Figure 5f illustrates the vehicle following a performance of a portion of a defined manoeuvre as an alternative to that shown in Figures 5d and 5e;

Figure 5g illustrates a position of the vehicle following a movement of the vehicle according to an embodiment of the invention in a scenario similar to Figure 1b;

Figure 5h illustrates a position of the vehicle following another movement of the vehicle to an embodiment of the invention in a scenario similar to Figure 1 b;

Figure 5i illustrates a position of the vehicle according to an embodiment of the invention following a defined manoeuvre in another scenario;

Figure 5j illustrates a position of the vehicle according to an embodiment of the invention following a defined manoeuvre in a scenario similar to Figure 5i; 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 performing a streetside or parallel parking defined manoeuvre to enter the vacancy 172 with the vehicle 110 moving in a number of consecutive trajectory parts in a forward direction 114 and a rearward direction respectively. 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, other features 140, 150 in the form of stationary vehicles bound each opposite longitudinal end of the vacancy 172.

In Figure 1a, a dimension of the vehicle, being a width 194 as shown here, is such that the vehicle 110 can be manoeuvred into the apparent vehicle envelope 174 in the vacancy 172, with a corresponding dimension, shown here as a width 176, of the vacancy’s vehicle envelope 174 being sufficient, wider as shown here. Accordingly, the vehicle 110 as such would fit into the vacancy 172, with a clearance, such as indicated by the separation 192 from the vehicle’s moveable projection 182 to the wall feature 125. It will be appreciated that although shown here in plan view, the scenarios depicted are three dimensional.

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 feature 125. In the scenario of Figure 1b, two target or desired defined manoeuvre completed positions are shown in broken lines, indicative of a possibility of positioning the vehicle 110 in either one of at least two vehicle envelopes 172 for the scenario shown. As shown here, the two vehicle envelopes 172 correspond to two respective pre-defined parking lots or spaces, such as may be designated by markings on the road surface. It will be appreciated that a different number of trajectory parts may be performed to reach the defined manoeuvre completed position, in dependence on the desired parking space or lot (e.g. left or right defined manoeuvre completed position as shown).

Accordingly, in both scenarios there may be a trade-off between: a defined manoeuvre completed position or an accuracy or neatness of the vehicle in the defined manoeuvre completed position; and the number of trajectory parts performed to reach the defined manoeuvre completed position.

Embodiments of the present invention aim to ameliorate such 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. As shown, 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 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, 150 are such that a planned trajectory to perform the defined manoeuvre can be performed within a number of trajectory parts to the defined manoeuvre completed position within a defined manoeuvre completed position tolerance range. The control means 210 here is arranged to determine the defined manoeuvre completed position tolerance range in dependence on the environment signal. The control means 210 may determine that the defined manoeuvre can be performed with a different number of trajectory parts to a different defined manoeuvre completed position tolerance range. Advantageously the vehicle 110 can be caused to perform the defined manoeuvre within a number of trajectory parts that is adaptable, such as for features in the vicinity of the vehicle. For example, there can be a larger vehicle position tolerance range for a smaller vacancy 172 for receiving the vehicle 110, such as where it may be more acceptable or desirable for the vehicle to have a less precise angle or relative position in or to the vacancy 172, such as to allow the vehicle 110 to perform the defined manoeuvre in a smaller number of trajectory parts. Alternatively, there can be a larger vehicle position tolerance range for a large vacancy 172 for receiving the vehicle 110, such as where a less precise angle or relative position in or to the vacancy 172 may be less noticeable, such as to allow the vehicle 110 to perform the defined manoeuvre in a smaller number of trajectory parts.

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, 150 or the vacancy 172 for future use. For example, where an occupant or user of the vehicle 11 has actively selected (e.g. by inputting one or more parameter inputs) or implicitly shown (e.g. through a repeated behavioural or use pattern) a preference for a defined manoeuvre completed position tolerance range and/or a number of trajectory parts for one or more scenarios, the memory means can store data corresponding to the preference to provide a default and/or automatic tolerance range and/or number of trajectory parts in dependence on the input (e.g. environment signal and/or location signal, etc) being indicative of a such or similar scenario for the preference or preferences.

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. 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. 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 one or more 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 perform the defined manoeuvre to the defined manoeuvre completed position. The number of trajectory parts may be determined from an initiation of the defined manoeuvre, such as from outside the vacancy 172 prior to a start of a manoeuvre or wherever and whenever a user transfers control to the controller.

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 features 140, 150 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 140, 150. The unobstructed length is sufficiently long for receiving the vehicle 110 in the defined manoeuvre completed position, the length here being a separation between features 140, 150 that is greater than the vehicle length in the defined manoeuvre completed position. As shown here vacancy 172 is sufficiently great to provide multiple possible vehicle envelopes 174 for receiving the vehicle 110 in respective defined manoeuvre completed positions 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) to 5(h) as examples which correspond to the scenarios shown in Figure 1(a) and 1(b) respectively; and with respect to Figures 5(i) and 5(j).

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, 140, 150 in a vicinity of the vehicle 110 and, in dependence thereon, determining a planned trajectory to perform the defined manoeuvre within a number of trajectory parts to the defined manoeuvre completed position within a defined manoeuvre completed position tolerance range relative to the feature 125, 140, 150 in the vicinity of the vehicle 110. Here, the defined manoeuvre completed position tolerance range is determined by the controller 200 in dependence on the environment signal.

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, 140, 150 in the vicinity of the vehicle 110 corresponding to a vacancy 172 for which a planned trajectory can be determined to a defined manoeuvre completed position with a tolerance range, within a defined number of trajectory parts. In at least some examples, the method includes an optional step 425 of varying either or both the number of trajectory parts and/or the defined manoeuvre completed position tolerance range. For example, where a defined manoeuvre could be performed to a less precise defined manoeuvre completed position, such as with a larger tolerance range, in a fewer number of trajectory parts, such an option may be offered to a user. In at least some examples, a defined manoeuvre may be performable with different discrete (e.g. two, three or more distinct) defined numbers of trajectory parts and/or tolerance ranges. For example, for a detected vacancy 172, a defined manoeuvre may be performable to a defined manoeuvre completed position with a first tolerance range within six trajectory parts; or performed to a defined manoeuvre completed position with a second (larger tolerance range) within five trajectory parts; or performed to a defined manoeuvre completed position with a third (yet larger) tolerance range within four trajectory parts. The defined manoeuvre may be performable with different trajectories, each trajectory comprising a different number of trajectory parts (e.g. a first trajectory with six trajectory parts; a second trajectory with five trajectory parts; a third trajectory with four trajectory parts; etc.).

In Figures 5(e), 5(f) and 5(g), 5(h) respectively, 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, 150 similar to Figures 1(a) and 1(b). Figures 5a to 5e illustrate sequentially the vehicle performing a defined manoeuvre according to an embodiment of the invention. Figure 5(a) shows the vehicle 110 at or near a start of a first trajectory part of the defined manoeuvre, with the vehicle 110 reversing, moving in a direction opposite to the forward direction 114 of the vehicle 110, into the vacancy 172. Figure 5(b) shows the vehicle 110 at or near an end of the first trajectory part of the defined manoeuvre, shortly prior to changing longitudinal direction to start a second trajectory part of the defined manoeuvre with the vehicle 110 to move in the forward direction 110. Figure 5(c) shows the vehicle at or near an end of the second trajectory part of the defined manoeuvre, shortly prior to changing longitudinal direction to start a third trajectory part of the defined manoeuvre with the vehicle 110 to move in the reverse direction. Figure 5(d) shows the vehicle 110 at or near an end of the third trajectory part of the defined manoeuvre, shortly prior to changing longitudinal direction to start a fourth trajectory part of the defined manoeuvre with the vehicle 110 to move in the forward direction 114. Figure 5 shows the vehicle 110 in the defined manoeuvre completed position having completed the fourth trajectory part of the defined manoeuvre. Here, the vehicle 110 is shown having completed the defined manoeuvre within four trajectory parts to a defined manoeuvre completed position with a small tolerance range, such as determined in dependence on the environment signal - and optionally on another parameter or input (e.g. a user selection).

Figure 5(f) shows an alternative defined manoeuvre completed position to that of Figure 5(e), with the vehicle 110 having performed a defined manoeuvre in fewer trajectory parts to a defined manoeuvre completed position with a larger tolerance range relative to that of Figure 5(e). For example, the defined manoeuvre to reach the defined manoeuvre completed position of Figure 5(f) could have been performed with a similar first trajectory part between positions similar to those of Figures 5(a) and 5(b) and a second trajectory part from a position similar to that of Figure 5(b) to that of Figure 5(f). Accordingly, it will be appreciated that the controller 200 is arranged to allow performance of defined manoeuvres with different numbers of trajectory parts to defined manoeuvre completed positions with different tolerance ranges. The controller 200 may be arranged to offer and/or select the different numbers of trajectory parts and/or tolerance ranges in dependence on the environment signal, such as the properties of the vacancy 172. For example, the controller 200 may be arranged to offer and/or select the different numbers of trajectory parts and/or tolerance ranges in dependence on the size of the vacancy 172, the alignment of the adjacent objects 140, 150, or other parameters associated with the vacancy. Additionally, or alternatively, the controller 200 may be arranged to offer and/or select the different numbers of trajectory parts and/or tolerance ranges in dependence on other parameters, such as one or more of: an ambient environmental condition (e.g. rain, temperature, lightness, darkness, time of day, day of week, etc); a terrain condition (e.g. road surface condition, off-road surface condition, gradient, etc); a presence of an occupant in a vehicle.

Figure 5g illustrates a position of the vehicle 110 following a movement of the vehicle according to an embodiment of the invention in a scenario similar to Figure 1b. Here, the vehicle 110 has performed a defined manoeuvre with a single trajectory part, such as in a reverse direction from the position of Figure 1(b) to the defined manoeuvre completed position of Figure 5(g) with a defined manoeuvre completed position tolerance range. Similarly, Figure 5h illustrates a position of the vehicle 110 following another movement of the vehicle 110 in a scenario similar to Figure 1b, with the vehicle 110 having performed a defined manoeuvre with two trajectory parts, first in reverse then in the forward direction 114, from the position of Figure 1(b) to the defined manoeuvre completed position of Figure 5(h) with a defined manoeuvre completed position tolerance range. For example, an intermediate position between a first trajectory part from the position of Figure 1(b) and a second trajectory part to the defined manoeuvre completed position of Figure 5(h) may be similar to the position shown as a defined manoeuvre completed position in Figure 5(g). Here, it will be appreciated that the controller 200, possibly with input from the user, may have selected a particular vehicle envelope 174 from the vacancy 172 for a target defined manoeuvre completed position for the vehicle 110 (e.g. a left hand parking space or a right hand parking space when viewing Figures 5(g) and 5(h)).

Figure 5i illustrates a position of the vehicle 110 according to an embodiment of the invention following a defined manoeuvre in another scenario. Here, the vacancy 172 is smaller than that shown in Figure 1(a), also with the adjacent vehicles 140, 150 being closer together such that the vehicle envelope 174 for receiving the vehicle 110 is shorter. Accordingly, to perform a defined manoeuvre to a defined manoeuvre completed position with a similar tolerance range as that shown in Figure 5(e), as illustrated in Figure 5(i), then a defined manoeuvre with a greater number of trajectory parts (than from Figures 5(a) to 5(e)) must be performed. If, for example, the number of trajectory parts is determined to be too great (e.g. by the controller 200 and/or a user), then the controller may determine a trajectory to a defined manoeuvre completed position with a greater tolerance range, such as illustrated in Figure 5(j), to decrease the number of trajectory parts. For example, the controller may determine that there would be nine trajectory parts to reach the precise, aligned defined manoeuvre completed position of Figure 5(i), which may be considered to be above a threshold for number of trajectory parts and/or time for completion of performance of the defined manoeuvre. Accordingly, the controller 210 may determine a trajectory to the less precise defined manoeuvre completed position of Figure 5(j) with a greater tolerance range, to allow the manoeuvre to be performed in a number of trajectory parts at or below the threshold (e.g. six parts).

Once in the defined manoeuvre completed position, being parked positions in Figures 5(e), 5(f), 5(g), 5(h), 5(i) and 5(j), the user typically applies a parking brake, to leave the vehicle 110 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: the tolerance range, a threshold for the number of trajectory parts; a separation or clearance threshold from one or more features 125, 140, 150 for a defined manoeuvre completed position tolerance range; which one or more moveable projections 182 is/are repositionable; a parameter for determining a tolerance range (e.g. a type of feature detected; a location; a user; a location of an occupant). 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 select a default tolerance range and/or trajectory or number of trajectory parts 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 have steerable rear wheels; or the vacancy may comprise a fishbone (diagonal) vacancy 172 or a perpendicular vacancy (e.g. with the vehicle 110 parked end on).

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 determine, offer and/or display defined manoeuvre completed positions with tolerance ranges and/or trajectories with numbers of trajectory parts even when at least partially parked or when 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 (25)

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 to a defined manoeuvre completed position; and control means arranged to control the output means to cause the vehicle to perform the defined manoeuvre, the control means being arranged to determine a planned trajectory to perform the defined manoeuvre within a number of trajectory parts to the defined manoeuvre completed position within a defined manoeuvre completed position tolerance range relative to a feature in the vicinity of the vehicle, wherein the control means is arranged to determine the defined manoeuvre completed position tolerance range in dependence on the environment signal.

2. The controller of claim 1, wherein the control means is arranged to determine the number of trajectory parts in dependence on the defined manoeuvre completed position tolerance range.

3. The controller of any preceding claim, wherein the control means is arranged to inversely relate the number of trajectory parts to the defined manoeuvre completed position tolerance range such that the defined manoeuvre is limited to a smaller number of trajectory parts when the defined manoeuvre completed position tolerance range is larger and the defined manoeuvre is limited to a larger number of trajectory parts when the defined manoeuvre completed position tolerance range is smaller.

4. The controller of any preceding claim, wherein the control means is arranged to determine both the defined manoeuvre completed position tolerance range and the number of trajectory parts in dependence on the environment signal being indicative of a vehicle envelope parameter of a vehicle envelope for receiving the vehicle.

5. The controller of claim 4, wherein the control means is arranged to provide a larger defined manoeuvre completed position tolerance range for a vehicle envelope with a larger vehicle envelope parameter.

6. The controller of claim 4 or 5, wherein the control means is arranged to provide a smaller number of trajectory parts for a vehicle envelope with an larger vehicle envelope parameter.

Ί. The controller of any preceding claim, wherein the control means is arranged to determine at least one of the defined manoeuvre completed position tolerance range and the number of trajectory parts in dependence on a location of a vehicle occupant.

8. The controller of any preceding claim, wherein the control means is arranged to determine at least one of the defined manoeuvre completed position tolerance range and the number of trajectory parts in dependence on a mode for performing the defined manoeuvre.

9. The controller of any preceding claim, wherein the number of number of trajectory parts within which the defined manoeuvre is performed is a maximum number of trajectory parts.

10. The controller of any preceding claim, wherein the planned trajectory is from a defined manoeuvre start position to the defined manoeuvre completed position; and the number of trajectory parts is a total number of trajectory parts therebetween.

11. The controller of any preceding claim, wherein the defined manoeuvre completed position tolerance range comprises at least one of an angular range and a distance range relative to the feature in the vicinity of the vehicle.

12. The controller of any preceding claim, wherein the control means is arranged to determine each sequential trajectory part being in an opposite vehicle longitudinal direction relative to a preceding trajectory part.

13. The controller of any preceding claim, comprising an input means for receiving a request signal indicative of a received signal indicative of a user request for vehicle movement.

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

15. A system comprising:

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

environment sensing means arranged to determine the location of the one or more features in the vicinity of the vehicle; and actuator means for receiving the manoeuvre signal to cause the vehicle to perform the defined manoeuvre.

16. The system of claim 15, when dependent on claim 13, comprising receiver means for receiving the signal indicative of the user request for vehicle movement and outputting the request signal in dependence thereon.

17. The system of either of claims 15 or 16, comprising user input means for receiving user input for configuring the control means to determine at least one of the defined manoeuvre completed position tolerance range and the number of trajectory parts.

18. The system of any of claims 15 to 17, comprising location input means for receiving location input for configuring the control means to determine at least one of the defined manoeuvre completed position tolerance range and the number of trajectory parts in dependence on a location parameter.

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

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

determining a defined manoeuvre completed position tolerance range in dependence on the environment signal;

determining a planned trajectory to perform the defined manoeuvre within a number of trajectory parts to the defined manoeuvre completed position within the defined manoeuvre completed position tolerance range relative to a feature in the vicinity of the vehicle; and outputting a manoeuvre signal to cause the vehicle to perform the defined manoeuvre.

20. The method of claim 19 comprising determining the number of trajectory parts in dependence on the defined manoeuvre completed position tolerance range.

21. The method of claim 19 or 20, comprising inversely relating the number of trajectory parts to the defined manoeuvre completed position tolerance range such that the defined manoeuvre is performed in a smaller number of trajectory parts when the defined manoeuvre completed position tolerance range is larger and the defined manoeuvre is limited to a larger number of trajectory parts when the defined manoeuvre completed position tolerance range is smaller.

22. The method of any of claims 19 to 21, comprising determining both the defined manoeuvre completed position tolerance range and the number of trajectory parts in dependence on the environment signal being indicative that a vehicle envelope parameter of a vehicle envelope for receiving the vehicle is above a threshold.

23. The method of any of claims 19 to 22, comprising providing a larger defined manoeuvre completed position tolerance range for a vehicle envelope with a larger vehicle envelope parameter.

24. A vehicle comprising a controller according to any of claims 1 to 14, a system according to any of claims 15 to 18 or arranged to perform a method according to any of claims 19 to 22.

25. Computer software which, when executed by a processing means, is arranged to perform a method according to any of claims 19 to 22, optionally where stored on a computer readable non-transitory medium.