GB2576482A - Apparatus and method for controlling vehicle movement - Google Patents

Abstract

A method, system, controller, program and vehicle 110 are provided, wherein or whereby an input (230 fig 2) of a controller (200 fig 2) receives an environment signal indicative of a feature in a vicinity of the vehicle 110. A manoeuvre signal is communicated from an output (240 fig 2) to cause a defined manoeuvre to be performed. The mode for performing the manoeuvre is selectable from plural modes including at least one mode corresponding to the vehicle 110 having an occupant and at least one other mode corresponding to an occupant-out‑of-vehicle mode. The mode is selectable depending upon the environment signal being indicative of a vehicle envelope 174 suitable for the mode. The defined manoeuvre may be performed automatically or at least semi-autonomously. The invention is potentially targeted at a situation where an object such as a wall 125 or vehicle 140 adjacent a parking space can impede the opening of a vehicle door or aperture member 188, impeding or preventing access via that door.

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 or from the vehicle. For example, a wall adjacent a parking space can impede the opening of a vehicle door, impeding or preventing access via that door.

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 provide at least one mode for performing a defined manoeuvre 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; and control means arranged to control the output means, the control means being arranged to provide at least one mode for performing at least a portion of the defined manoeuvre, the mode being selectable from a plurality of modes including at least one mode corresponding to an occupant-in-vehicle mode and at least one mode corresponding to an occupant-out-of-vehicle mode, the mode being selectable in dependence on the environment signal being indicative of a vehicle envelope suitable for the mode. Advantageously the vehicle may be caused to offer or provide only a mode or modes of performing a defined manoeuvre that are appropriate for a particular vehicle envelope.

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 driving out of a space from a stationary position. A defined manoeuvre completed position may comprise a parked position.

The occupant-in-vehicle mode may correspond to the environment signal being indicative that the vehicle envelope is suitable for receiving the vehicle and opening a vehicle aperture member in a received vehicle position. The received vehicle position may correspond to a defined manoeuvre completed position. The occupant-out-of-vehicle mode may correspond to the environment signal being indicative that the vehicle envelope is suitable for receiving the vehicle but is not suitable for opening a vehicle aperture member in a received vehicle position. The vehicle aperture member may comprise at least one of: a vehicle door, a vehicle roof, a vehicle boot or trunk, a vehicle bonnet or hood, a trunk, or the like. Advantageously, the provided mode or modes correspond such that where use of a vehicle aperture, such as for access, is required or desired, the mode or modes ensure appropriate usability of the one or more vehicle apertures in each vehicle envelope. For example, where the defined manoeuvre is a parking-in manoeuvre and the defined manoeuvre completed position is or will be such that access for the occupant to get out of the vehicle would be impeded or prohibited, then only the occupant-out-of vehicle mode, for that occupant, may be provided. Advantageously, such provision may prevent, or at least mitigate against, completion of a defined manoeuvre to a defined manoeuvre completed position whereby access for an occupant to or via the vehicle aperture is undesirably impeded.

The control means may be arranged to allow selection between the occupant-in-vehicle mode and the occupant-out-of-vehicle mode when the environment signal is indicative that the vehicle envelope is suitable for receiving the vehicle and opening the vehicle aperture member in the received vehicle position. Advantageously, where multiple modes are appropriate, a user may be able to select the mode they prefer.

The control means may be arranged to disallow selection of the occupant-in-vehicle mode when the environment signal is indicative that the vehicle envelope is not suitable for opening the vehicle aperture member in the received vehicle position. Advantageously, disallowing selection of the occupant-in-vehicle mode for unsuitable vehicle envelopes can prevent the completion of a defined manoeuvre to a position whereby an occupant cannot use or open a vehicle aperture, such as whereby the occupant may not be able to exit the vehicle via that aperture.

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 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. In at least some examples, the vehicle envelope may correspond to the vacancy.

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 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.

The defined manoeuvre completed position may comprise a central position within the vacancy. The defined manoeuvre completed position may comprise a central position within the vehicle envelope, such as with the vehicle central longitudinal axis centrally located within the vehicle envelope (e.g. equidistant from respective lateral sides). Alternatively, the defined manoeuvre completed position may comprise an offset position, such as with the vehicle (and vehicle longitudinal central axis) offset towards a lateral side (e.g. a left or right side of the vehicle envelope or vacancy). Similarly, an axial midpoint of the vehicle may be positioned axially centrally in the vacancy and/or vehicle envelope - or, alternatively offset therein.

The controller may comprise a second output means for outputting a mode signal indicative of a plurality of selectable modes, the mode for performing the defined manoeuvre being selectable from the plurality of selectable modes by a user in dependence upon the mode signal. The second output means may comprise a notification output means. Advantageously, the user can be notified of the availability of one or more modes, allowing the user to select their preferred mode where available.

The controller may comprise a second input means for receiving a request signal indicative of a user request for selecting the mode when a plurality of modes are selectable. Advantageously, explicit user selection of a mode may be achieved. 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 control means may be arranged to provide no selectable mode when the environment signal is indicative that the vehicle envelope is unsuitable for performing the defined manoeuvre. Advantageously, selection of an unsuitable mode may be prevented.

The control means may be arranged to prevent the output of a manoeuvre signal to cause the vehicle to perform the defined manoeuvre when the environment signal is indicative that the vehicle envelope is unsuitable for receiving the vehicle. Advantageously, performance of an unsuitable mode may be prevented.

The second output means may be arranged to provide a mode signal indicative of no mode being selectable, corresponding to the vehicle envelope being unsuitable for receiving the vehicle. Advantageously, the user may be made aware by notification that a vehicle envelope has been identified, but that it is unsuitable for performance of the defined manoeuvre - for example, where a vehicle envelope is too small for even the occupant-outof-vehicle mode of performance of a defined manoeuvre.

The control means may be arranged for the selectable modes to be variable during the performance of the defined manoeuvre. Advantageously, this may allow the user to switch between modes as desired without cancelling or aborting the defined manoeuvre. For example, when unparking from a position whereby access to a vehicle aperture is inhibited, the user may be able to initiate an unparking defined manoeuvre performed in the occupantout-of-vehicle mode, then switching mode to complete the defined manoeuvre in the occupant-in-vehicle mode (e.g. after the occupant has entered the vehicle during performance of the defined manoeuvre).

The control means may be arranged to ensure at least a minimum separation distance from the vehicle. The control means may be arranged to provide at least the minimum separation between the vehicle and the feature in the vicinity of the vehicle. The separation may be provided when the vehicle is in an open configuration, such as with at least one vehicle aperture open. The minimum separation may be provided during the performance of the defined manoeuvre, such as throughout the defined manoeuvre; and/or prior to and/or after initiation of the defined manoeuvre. For example, at least the minimum separation may be provided in the defined manoeuvre completed position.

The aperture member open position may comprise a fully open position. The fully open position may correspond to a maximally open position of the aperture member. The aperture open position may comprise a partially open position. The partially open position may correspond to a stable open position. For example, the aperture member may comprise a door with one or more biased open positions, the partially open position being an intermediate biased open position between the fully open position and a closed position. In at least some examples, a single mode may be provided corresponding to a maximally open position of the aperture member, whereby the aperture member can optionally also be partially opened (e.g. in dependence on a user preference). In other examples, a single mode may be provided corresponding to the partially open position (e.g. whereby an onus may be on a user not to fully open the aperture member if such opening may be impeded). In yet further examples, distinct modes may each be provided for partially open and fully open respectively.

According to an aspect there is provided a system comprising: the controller as described above, arranged to receive the environment signal and to output the manoeuvre signal; and 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. Advantageously the system controls the provision of selectability of the modes.

The system may comprise actuator means for receiving the manoeuvre signal to cause the vehicle to perform the defined manoeuvre. Advantageously, the system controls movement of 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 receiving a wired and/or wireless signal from a mobile device indicative of the user request. Advantageously user requests can be received originating from external to the vehicle, so as to allow mode selection in at least some instances whilst the occupant is out of the vehicle.

The controller may be arranged to control the provision of modes to the output means for performing the defined manoeuvre in dependence upon a presence of an occupant in the vehicle. For example, the controller may be arranged to receive an input indicative of the presence of the one or more occupants, such as from at least one sensor, indicative of a presence of one or more occupants in the vehicle (e.g. a movement sensor, weight sensor, input from an internal vehicle system, such as an internal-only input means). The controller may be arranged to receive an input indicative of the location and/or status of the one or more occupants, such as via a latch (e.g. a seat belt buckle), or location detection of keyfob or the like, or Driver Condition Recognition. Advantageously the provision of modes can be automatically limited to suit whether an occupant is in or out of 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; providing at least one mode for performing the defined manoeuvre in dependence upon the environment signal being indicative of a vehicle envelope suitable for the mode, the mode being selectable from a plurality of modes including at least one mode corresponding to an occupant-in-vehicle mode and at least one mode corresponding to an occupant-out-ofvehicle mode; and outputting a manoeuvre signal to cause the vehicle to perform at least a portion of the defined manoeuvre in a selected mode.

The method may comprise categorizing the vehicle envelope. The categories may comprise at least: suitable for receiving the vehicle and opening a vehicle aperture member in a received vehicle position; and suitable for receiving the vehicle but not suitable for opening a vehicle aperture member in a received vehicle position. Other categories and/or other modes, may be envisaged.

The occupant-in-vehicle mode may correspond to the category of suitable for receiving the vehicle and opening a vehicle aperture member in a received vehicle position. The occupant-out-of-vehicle mode may correspond to the category of suitable for receiving the vehicle but not suitable for opening a vehicle aperture member in a received vehicle position.

The method may comprise categorizing the vehicle envelope as one or more of: suitable for all occupants in the vehicle; suitable for at least one occupant in the vehicle; suitable for no occupants in the vehicle.

The portion of the defined manoeuvre may comprise one or more of: initiation of the defined manoeuvre; completion of the defined manoeuvre; and the entirety of the defined manoeuvre.

The method may comprise offering selectability of the mode to a user. Additionally, or alternatively, the method may comprise automatically selecting a default mode.

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 5 shows a vehicle according to an embodiment of the invention; 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 both scenarios, the vehicle 110 is illustrated at a defined manoeuvre completed position, each with a separation 192 of the vehicle 110 in a closed configuration from a feature 125 in a vicinity of the vehicle 110, as will be explained.

In Figure 1(a) the vehicle 110 is at the defined manoeuvre completed position where a defined manoeuvre has been performed with an occupant-in-vehicle mode. The defined manoeuvre completed position of Figure 1a is intended to be a parked position of the vehicle 110 whereby the occupant can exit and/or enter the vehicle 110 via a vehicle aperture accessed by opening a vehicle aperture member 188. 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 generally parallel to a central 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, wall or other object at, on or adjacent a ground surface for the vehicle 110, such as a road. There is a separation 192 provided between the vehicle 110 in a closed configuration at the defined manoeuvre completed position. In Figure 1(a), the separation 192 is such that allows the vehicle aperture member 188 to be opened, shown here with a separation 190 between the vehicle 110 in the open configuration of Figure 1(a) and a feature in the vicinity of the vehicle, shown here as an adjacent object 140, such as an adjacent vehicle.

In Figure 1(b) the vehicle 110 is at a position intended to be a parked position of the vehicle 110 whereby access to or via the vehicle aperture is restricted. The vehicle 110 is again shown in Figure 1(b) in relation to the feature 125 in the vicinity of the vehicle 110, and the adjacent object 140, with the adjacent object 140 and the feature 125 being closer than in Figure 1(a) such that the vacancy 172 and vehicle envelope 174 therebetween is smaller. In the scenario shown in Figure 1(b), opening of the vehicle aperture member 188 is prevented or at least restricted by the adjacent feature 125 and object 140, such that the vehicle 110 is shown in a closed configuration in Figure 1(b). Accordingly, an occupant may have difficulty, or even be prevented from, getting into and/or out of 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 1(a) and 1(b) the defined manoeuvre may be a parking manoeuvre to control the vehicle 110 to drive into a parking structure or parking place bounded by the adjacent feature 125 and object 140.

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.

The feature or features sensed by the environment sensing means may be such as to have an actual and/or a perceived effect on the performance of the defined manoeuvre, such as physically and/or psychologically influencing a user’s experience of performance of the defined manoeuvre.

In Figure 1(a) the vehicle 110 is at the defined manoeuvre completed position where the defined manoeuvre has been performed with an occupant-in-vehicle mode. In Figure 1(b) the vehicle 110 is at the defined manoeuvre completed position where the defined manoeuvre has been performed with an occupant-out-of-vehicle mode, intended to be a parked position of the vehicle 110 whereby access to or via the vehicle aperture is restricted.

In both situations, it may be advantageous for the manoeuvre or manoeuvres 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 is a wall or other hindrance to opening a vehicle door). In some scenarios a subsequent performance of a defined manoeuvre, such as to unpark the vehicle 110, may be performed with a different availability of modes. For example, where a defined manoeuvre may be performed to the defined manoeuvre completed position of Figure 1(a) with the occupant located either in or out of the vehicle 110, if the adjacent object 140 is moved or replaced by a further object whereby the separation 190 is reduced such that the vehicle aperture member 188 cannot be adequately opened, then the occupant-in-vehicle mode or modes may not be available.

In Figures 1(a) and 1(b), the vehicle 110 is illustrated as having a vehicle forward direction, indicated by arrow 114, as can be appreciated by Figure 1(b) in particular, the vehicle envelope 174 can correspond to the vacancy 172. As will be further explained, the properties of the vacancy 172, such as the dimensions, can be determinativee for suitability of one or more modes for performing the defined manoeuvre. As described here, the control means is not required to distinguish or specifically differentiate between the vacancy 172 and the vehicle envelope 174. Accordingly, assessment of suitability of one or more modes can be based purely on the vacancy 172 or vehicle envelope 174 without requiring discrete steps for each of the vacancy 172 and vehicle envelope 174. For example, the control means is arranged to determine that a vacancy 172 is of a sufficient dimension or dimensions to inherently comprise a vehicle envelope 174 suitable for receiving the vehicle 110 in the defined manoeuvre completed position in a first mode, such as the occupant-outof-vehicle mode. The control means is arranged to determine whether the sufficient dimension or dimensions of the vacancy 172 is/are great enough to allow receipt of the vehicle 110 in the defined manoeuvre completed position with access to or via the one or more vehicle apertures, such that a second mode may also be suitable, such as the occupant-in-vehicle mode.

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 Figure 1.

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.

Here, the input means 230 is for receiving an environment signal indicative of the features 125 140 in the vicinity of the vehicle 110. The control means 210 is arranged to control the output means 240 to cause the vehicle 110 to perform at least a portion of the defined manoeuvre in dependence on the environment signal. Here, the controller comprises a second output means for outputting a mode signal indicative of selectable modes. The control means is arranged to output the mode signal indicative of a plurality of modes. The mode for performing the defined manoeuvre is selectable from the plurality of selectable modes by a user in dependence upon the mode signal. In at least some examples, the second output means comprises a notification output means. Advantageously, the user can be notified of the availability of one or more modes, allowing the user to select their preferred mode where available. For example, prior to performing the defined manoeuvre to the defined manoeuvre completed position of Figure 1(b), or a subsequent defined manoeuvre therefrom, the user can be notified of one or more occupant-out-of-vehicle modes for performing the defined manoeuvre. Similarly, prior to performance of a defined manoeuvre to or from the defined manoeuvre completed position of Figure 1(a), the user may be notified of the availability of one or more modes of both occupant-out-of-vehicle and occupant-invehicle modes for performing the defined manoeuvre or manoeuvres.

Here, the control means 210 is arranged to provide a mode signal indicative of no mode being selectable, corresponding to the vehicle envelope 174 being unsuitable for receiving the vehicle 110. Accordingly, the user is made aware by notification that a vehicle envelope or vacancy has been identified, but that it is unsuitable for performance of the defined manoeuvre - for example, where a vehicle envelope is too small for even the occupant-outof-vehicle mode of performance of a defined manoeuvre (e.g. whereby the adjacent feature 125 and object 140 are closer together than in Figure 1(b) with insufficient dimensions for receiving or accommodating the vehicle 110 even in the closed configuration.

To perform the defined manoeuvre, the vehicle 110 comprises environment sensing means for determining a location of features 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 may be determined due to, for example, a resolution of an imaging device or a signal-to-noise ratio of a sensing device.

Once in the defined manoeuvre completed position (e.g. Figure 1(a) or 1(b)), the user typically applies a parking brake, to leave the vehicle stationary with the engine switched off.

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 communication bus may be acommunication bus such as Ethernet using a suitable communication protocol such as the Internet Protocol (IP), although embodiments of the invention are not limited in this respect.

Here, the input means 230 comprises an electrical input for receiving the environment signal. The input means 230 may comprise an electrical input for receiving a request signal. In at least some examples, the controller 210 comprises a further 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 request may comprise the mode selection.

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.

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.

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. 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, 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 vehicle 110 comprises environment sensing means for determining a location of at least one feature in the vicinity of the vehicle 110; and outputting an environment signal indicative thereof. The environment sensing means 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 a separation between features 125, 140 that is greater than the vehicle width 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.

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 a parking-in manoeuvre 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. 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 Figure 5 as an example which corresponds broadly to the situation shown in Figure 1.

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 in a vicinity of the vehicle 110 and, in dependence thereon, determining 420 a presence of a suitable envelope for receiving the vehicle in one or more modes of performance of a defined manoeuvre. The control means identifies 430 whether multiple modes are suitable. Where a plurality of modes are suitable, a mode signal is output indicative of modes of performance suitable for performing a defined manoeuvre. Upon selection 435 of a mode, the control means control the performance of the defined manoeuvre 440.

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 suitable vehicle envelope. If there is no suitable mode, then no defined manoeuvre is performed. In at least some examples, such non-performance or unavailability is communicated to the user (e.g. the user is notified that no suitable vehicle envelope or vacancy or only an unsuitable vehicle envelope or vacancy has been detected).

It will be appreciated that in at least some examples, the defined manoeuvre can be performed without an explicit or discrete mode selection by the user. For example, where only a single mode is available or suitable, performance of the defined manoeuvre 440 may be performed in that mode by default. Likewise, in at least some examples, there may be a general default mode provided for performing one or more defined manoeuvres, such as a preferred mode where multiple modes may be available. The default mode may be adaptable, such as programmable by a user and/or self-learning such as to evolve or adapt (e.g. with user behaviour over a period of time).

The mode may be selected explicitly via a user input, such as selection via an interface. In at least some examples, the mode selection may be via a user action. For example, where an occupant-out-of-vehicle mode is available, selection of that mode may be at least partially achieved by an occupant transitioning from a location in the vehicle to a location out of the vehicle. Such transitioning may be automatically detected, such as via a vehicle system (e.g. seat sensor, door sensor, movement sensor, etc). Similarly, selection may be via a vehicle system, such as operation of an accelerator, gear selection, switch, brake, indicator, or the like.

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 provision of the angular offset; the incline threshold for providing the angular offset; the one or more locations where the angular offset is provided; the direction of the angular offset; and the angle of the angular offset. 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 not offer a mode when the vehicle is positioned at a particular location, such as a home or garage, where the user has previously overridden, cancelled or rejected that mode.

In Figure 5, 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 Figure 5, the vehicle 110 is shown in the defined manoeuvre completed position with the vehicle 110 in a closed configuration with a separation 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 a 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 position of Figure 5 has been performed with the vehicle in an occupant-out-of-vehicle mode. Here, the defined manoeuvre into the position of Figure 5 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 position of Figure 5 has included altering a position of the moveable projection 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 a result of the method 400 the vehicle may be more advantageously positioned or configured following performance of a defined manoeuvre. For example, an occupant may be prevented from being trapped in a vehicle, or damaging the vehicle and/or an adjacent object. 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 provide a selectable mode for performing a portion of a manoeuvre as a defined manoeuvre even when parked or when having being driven by a human driver. For example, identifying the available modes to the user may be indicative of accessibility of vehicle apertures, assisting the user in choosing a performance of a manoeuvre (e.g. a user may choose to perform a parking manoeuvre manually where an occupant-in-vehicle mode is notified as being available).

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; and control means arranged to control the output means, the control means being arranged to provide a mode for performing a portion of the defined manoeuvre, the mode being selectable from a plurality of modes including at least one mode corresponding to an occupant-in-vehicle mode and at least one mode corresponding to an occupant-out-of-vehicle mode, the mode being selectable in dependence on the environment signal being indicative of a vehicle envelope suitable for the mode.

2. The controller of claim 1 wherein the occupant-in-vehicle mode corresponds to the environment signal being indicative that the vehicle envelope is suitable for receiving the vehicle and opening a vehicle aperture member in a received vehicle position; and the occupant-out-of-vehicle mode corresponds to the environment signal being indicative that the vehicle envelope is suitable for receiving the vehicle but is not suitable for opening a vehicle aperture member in a received vehicle position.

3. The controller of claim 2, wherein the control means is arranged to allow selection between the occupant-in-vehicle mode and the occupant-out-of-vehicle mode when the environment signal is indicative that the vehicle envelope is suitable for receiving the vehicle and opening the vehicle aperture member in the received vehicle position.

4. The controller of claim 2 or 3, wherein the control means is arranged to disallow selection of the occupant-in-vehicle mode when the environment signal is indicative that the vehicle envelope is not suitable for opening the vehicle aperture member in the received vehicle position.

5. The controller of any of claims 2 to 4, wherein the vehicle envelope comprises dimensions of a parking area and the received vehicle position is a parked position.

6. The controller of any preceding claim, comprising a second output means for outputting a mode signal indicative of a plurality of selectable modes, the mode for performing the defined manoeuvre being selectable from the plurality of selectable modes by a user in dependence on the mode signal.

7. The controller of any preceding claim, comprising a second input means for receiving a request signal indicative of a user request for selecting the mode when a plurality of modes are selectable.

8. The controller of any preceding claim, wherein the control means is arranged to provide no selectable mode when the environment signal is indicative that the vehicle envelope is unsuitable for performing the defined manoeuvre.

9. The controller of claim 8, wherein the control means is arranged to prevent the output of a manoeuvre signal to cause the vehicle to perform the defined manoeuvre when the environment signal is indicative that the vehicle envelope is unsuitable for receiving the vehicle.

10. The controller of claim of claim 8 or 9, when dependent on claim 6, wherein the second output means is arranged to provide a mode signal indicative of no mode being selectable, corresponding to the vehicle envelope being unsuitable for receiving the vehicle.

11. The controller of any preceding claim, wherein the control means is arranged for the selectable modes to be variable during the performance of the defined manoeuvre.

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

13. A system comprising:

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

14. The system of claim 13 comprising actuator means for receiving the manoeuvre signal to cause the vehicle to perform the defined manoeuvre.

15. The system of claim 13 or 14, comprising receiver means for receiving a signal indicative of a user request for vehicle movement and outputting a request signal in dependence thereon.

16. The system of any of claims 13 to 15, wherein the controller is arranged to control the provision of modes to the output means for performing the defined manoeuvre in dependence upon a presence of an occupant in the vehicle.

17. 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;

providing at least one mode for performing the defined manoeuvre in dependence upon the environment signal being indicative of a vehicle envelope suitable for the mode, the mode being selectable from a plurality of modes including at least one mode corresponding to an occupant-in-vehicle mode and at least one mode corresponding to an occupant-out-of-vehicle mode; and outputting a manoeuvre signal to cause the vehicle to perform at least a portion of the defined manoeuvre in a selected mode.

18. The method of claim 17, comprising categorizing the vehicle envelope, the categories comprising at least: suitable for receiving the vehicle and opening a vehicle aperture member in a received vehicle position; and suitable for receiving the vehicle but not suitable for opening a vehicle aperture member in a received vehicle position.

19. The method of claim 18, wherein the occupant-in-vehicle mode corresponds to the category of suitable for receiving the vehicle and opening a vehicle aperture member in a received vehicle position; and the occupant-out-of-vehicle mode corresponds to the category of suitable for receiving the vehicle but not suitable for opening a vehicle aperture member in a received vehicle position.

20. The method of any of claims 17 to 19, comprising categorizing the vehicle envelope as one or more of: suitable for all occupants in the vehicle; suitable for at least one occupant in the vehicle; suitable for no occupants in the vehicle.

21. The method of any of claims 17 to 20, wherein the at least a portion of the defined manoeuvre comprises one or more of: initiation of the defined manoeuvre; completion of the defined manoeuvre; and the entirety of the defined manoeuvre.

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22. The method of any of claims 17 to 21, comprising offering selectability of the mode to a user.

23. The method of any of claims 17 to 22, comprising automatically selecting a default mode.

24. A vehicle comprising a controller according to any of claims 1 to 12, a system according to any of claims 13 to 16 or arranged to perform a method according to any of claims 17 to 23.

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25. Computer software which, when executed by a processing means, is arranged to perform a method according to any of claims 17 to 23, optionally where stored on a computer readable non-transitory medium.