WO2019057800A1

WO2019057800A1 - Apparatus and method for controlling vehicle movement

Info

Publication number: WO2019057800A1
Application number: PCT/EP2018/075407
Authority: WO
Inventors: Daniel WOOLLISCROFT; Edward PITHER; Helio CARDOSO; David PETTINGER
Original assignee: Jaguar Land Rover Limited
Priority date: 2017-09-22
Filing date: 2018-09-20
Publication date: 2019-03-28
Also published as: GB2566941B; GB201715326D0; GB2566941A

Abstract

Embodiments of the present invention provide a controller (200), comprising input means (230) for receiving a request signal indicative of a wirelessly received signal indicative of a user request for vehicle movement, output means (240) for outputting a movement signal to cause an application of torque to one or more wheels of the vehicle to move the vehicle a predetermined distance in a longitudinal axis of the vehicle, and control means (210) arranged to control the output means to output the movement signal in dependence on the request signal.

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 longitudinal movement of 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 semi- autonomous, 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, 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 in a parking structure adjacent a wall. The parking space may be located with the wall perpendicular to a longitudinal axis of the parking space, such that the vehicle moves into the parking space in either a forward or reverse direction.

In order to prevent the vehicle contacting an object, such as the wall, 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 predetermined distance from the object. For example, the vehicle may be reversed towards the wall, or other feature, until the predetermined distance is determined by the environment sensing means. However a resolution of some environment sensing means may prevent the vehicle from being parked close to the object. Ultrasonic sensing means may be used as the environment sensing means and, in such cases, the predetermined distance may be 0.3-0.4m, which may not allow particularly close automatic positioning of the vehicle to the object. This may be problematic, especially with a relative size of parking spaces and some vehicles becoming closer.

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 an application of torque to one or more wheels of a vehicle to move the vehicle a predetermined distance in a longitudinal axis of the vehicle in dependence on a received signal. According to an aspect of the invention, there is provided a controller comprising input means for receiving a request signal indicative of a wirelessly received signal indicative of a user request for vehicle movement, output means for outputting a movement signal to cause an application of torque to one or more wheels of the vehicle to move the vehicle a predetermined distance in a longitudinal axis of the vehicle, and control means arranged to control the output means to output the movement signal in dependence on the request signal. Advantageously the vehicle may be remotely caused to move a predetermined distance to facilitate better positioning of the vehicle. From external to the vehicle, the ability of the vehicle to move the predetermined distance may be better assessed. The controller as described above, wherein:

the input means comprises an electrical input for receiving the signal;

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

The control means may be arranged to receive one or more further request signals indicative of further user requests for vehicle movement, and the control means is arranged to control the output means to output further movement signals, in dependence on each of the received further request signals, such that the vehicle is caused to move the predetermined distance in the longitudinal axis of the vehicle in dependence on each further request signal. Advantageously the vehicle may be repeatedly moved the predetermined distance to improve positioning of the vehicle.

The control means is optionally arranged to cause the vehicle to move the predetermined distance in the longitudinal axis of the vehicle up to a predetermined total movement distance in the longitudinal axis. Advantageously a limit of movement of the vehicle exists to prevent excessive movement of the vehicle. The predetermined distance may be a predetermined distance with respect to a first position of the vehicle. Advantageously the first position may be a position at which the vehicle was stationed either automatically or by a driver.

According to an aspect of the invention, there is provided a system, comprising receiver means for wirelessly receiving a signal from a mobile device indicative of a user request for vehicle movement and outputting the request signal in dependence thereon, motive control means for receiving the movement signal and controlling the application of torque to the one or more wheels of the vehicle to move the predetermined distance in the longitudinal axis of the vehicle, and the controller as described above arranged to receive the request signal and to output the movement signal. Advantageously the motive control means controls the vehicle to move the predetermined distance. The system as described above, wherein:

the receiver means comprises a radio unit; and

the motive control means comprises a motive control unit.

The system may comprise environment sensing means for determining a location of one or more features in a vicinity of the vehicle and outputting an environment signal indicative thereof, and defined manoeuvre means for controlling the vehicle to perform a defined manoeuvre in dependence on the environment signal with respect to the first position of the vehicle. Advantageously the vehicle may be autonomously moved with respect to the environment signal. The environment sensing means may be one or more environment sensing devices.

The defined manoeuvre means is optionally arranged for controlling the vehicle to perform the defined manoeuvre to the first position of the vehicle, and the predetermined distance is a predetermined distance from the first position. Advantageously the vehicle may be moved the predetermined distance following the defined manoeuvre to improve positioning of the vehicle. The defined manoeuvre means may be a defined manoeuvre controller.

Optionally the predetermined distance is a predetermined distance from the first position to a resultant position of the vehicle, and the defined manoeuvre means is arranged for controlling the vehicle to perform the defined manoeuvre from the resultant position of the vehicle. Advantageously the defined manoeuvre may be better performed from the resultant position of the vehicle. The defined manoeuvre means may be arranged for controlling the vehicle to position the vehicle a predetermined minimum distance from a feature in the vicinity of the vehicle. Advantageously the minimum distance prevents contact with the vehicle.

The predetermined distance may be less than the predetermined minimum parking distance. Advantageously the predetermined distance provides fine-grained control of the vehicle position. The feature is optionally an object or a surface marking. Advantageously the defined manoeuvre may be performed with respect to markings and objects capable of contacting the vehicle.

The system may comprise environment sensing means for determining a location of one or more features in a vicinity of the vehicle and outputting an environment signal indicative thereof, wherein the controller is arranged to select a direction of vehicle movement in the longitudinal axis in dependence on the environment signal.

The direction of vehicle movement may be selected to move the vehicle the predetermined distance towards the feature. Advantageously closer positioning of the vehicle to the feature may be achieved.

The system may comprise determining a direction of vehicle movement in the longitudinal axis in dependence on the request signal. Advantageously the person responsible for the vehicle may determine the direction of movement.

The system optionally comprises high-resolution movement determining means for determining a distance of movement of the vehicle, wherein the control means is arranged to cause the application of torque in dependence on a signal output by the high-resolution movement determining means such that the vehicle is caused to move the predetermined distance in the longitudinal axis. Advantageously accurate movement of the vehicle may be achieved.

The high-resolution movement determining means may comprise a means for determining an angle of rotation of one or more wheels of the vehicle. Advantageously monitoring wheel rotation provides convenient monitoring of vehicle movement. According to an aspect of the invention, there is provided a method of controlling movement of a vehicle, the method comprising receiving a signal from a mobile device indicative of a user request for vehicle movement, and controlling an application of torque to one or more wheels of the vehicle, in dependence on the received signal, such that the vehicle is caused to move a predetermined distance in a longitudinal axis of the vehicle.

Optionally the application of torque includes applying driving torque and applying braking torque. The method may comprise receiving one or more further signals from the mobile device indicative of further user requests for vehicle movement. The method optionally comprises controlling an application of torque to the one or more wheels of the vehicle in dependence on the received further signals, such that the vehicle is caused to move the predetermined distance in the longitudinal axis of the vehicle in dependence on each further signal.

The vehicle may be caused to move the predetermined distance in the longitudinal axis of the vehicle up to a predetermined total movement distance in the longitudinal axis.

The high-resolution movement determining means optionally comprises a means for determining an angle of rotation of one or more wheels of the vehicle.

The method may comprise performing a defined manoeuvre of the vehicle in dependence on one or more environment sensing means associated with the vehicle to position the vehicle in a first position with respect to a feature in the vicinity of the vehicle.

The defined manoeuvre may be performed to manoeuvre the vehicle to the first position and the predetermined distance is a predetermined distance from the first position.

The predetermined distance is optionally a predetermined distance from the first position to a resultant position of the vehicle, and the defined manoeuvre is performed to manoeuvre the vehicle from the resultant position of the vehicle.

The first position may be a predetermined minimum parking distance from the feature in the vicinity of the vehicle, and the predetermined distance is less than the predetermined minimum parking distance.

Optionally the predetermined distance is less than half of the minimum parking distance. The minimum parking distance may be less than 0.2m. The method may comprise selecting a direction of vehicle movement in the longitudinal axis in dependence on a proximity to a feature in a vicinity of the vehicle. The direction of vehicle movement is optionally selected to move the vehicle the predetermined distance towards the object.

The method may comprise determining a direction of vehicle movement in the longitudinal axis in dependence on the signal received from the mobile device.

The method may comprise determining, by a high-resolution movement determining means, when the vehicle has moved the predetermined distance in the longitudinal axis.

The application of torque is optionally controlled in dependence on a signal output by the high-resolution movement determining means of the vehicle, such that the vehicle is caused to move the predetermined distance in the longitudinal axis.

Optionally the high-resolution movement determining means is associated with one or more wheels of the vehicle.

The controller, system or method described above, wherein the predetermined distance is optionally between 0.01 and 0.1 m. The predetermined distance may be around 0.025m.

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 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 1 shows a vehicle in relation to features in a vicinity of the vehicle;

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 illustrates movement of a vehicle according to an embodiment of the invention; and Figure 6 is a vehicle according to an embodiment of the invention. DETAILED DESCRIPTION

Figure 1 illustrates a vehicle 1 10 according to an embodiment of the invention in two different scenarios. Figure 1 (a) illustrates the vehicle 1 10 after performing a defined manoeuvre whereas Figure 1 (b) illustrates the vehicle 1 10 prior to performing a defined manoeuvre. In both scenarios the vehicle 1 10 is illustrated as being located at a first position, as will be explained.

In Figure 1 (a) the vehicle 1 10 is at the first position where the defined manoeuvre is a manoeuvre to leave the vehicle in the first position which is intended to be a parked positioned of the vehicle 1 10. The vehicle 1 10 is shown in relation to a feature 125 in a vicinity of the vehicle 1 10. The feature is, in this example, an object which is a parking structure 120, such as a garage, comprising an end wall 125 which is perpendicular to a longitudinal axis of the vehicle 1 10 i.e. generally parallel to an end of the vehicle 1 10, such as a front end. The object is not limited to being a wall 125 and may be, for example, a bollard or other object against which the vehicle 1 10 may contact.

In Figure 1 (b) the vehicle 1 10 is at the first position which may be a position at which the vehicle 1 10 has been parked or at least stationary. Proximal to the vehicle 1 10 are one or more features 140, 150 which may be objects such as other vehicles 140, 150. For example, the vehicle 1 10 may be parked with the other vehicles 140, 150 generally aligned with the longitudinal axis of the vehicle 1 10. A person associated with the vehicle 1 10 may wish the vehicle to perform the defined manoeuvre to manoeuvre the vehicle 1 10 from between the other vehicles 140, 150 so as to enable the vehicle 1 10 to be driven away or to drive away from the other vehicles 140, 150.

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 1 10 which is performed automatically by the vehicle 1 10 i.e. under control of one or more systems of the vehicle 1 10. The defined manoeuvre may be considered to be performed automatically by the vehicle 1 10, or at least semi autonomously. In Figure 1 (a) the defined manoeuvre may be a parking manoeuvre to control the vehicle 1 10 to drive, such as generally in direction of arrow 1 15, into the parking structure 125 or parking place. In Figure 1 (b) the defined manoeuvre may be a manoeuvre to move the vehicle 1 10 from the parked position, such as in general direction of arrow 155, from between the other vehicles 140, 150. In both situations, it may be advantageous for the manoeuvre to be performed whilst a person in control of the vehicle 1 10 is external to the vehicle 1 10. For example, access to the vehicle 1 10 may be limited in both Figure 1 (a) after performing the defined manoeuvre and in Figure 1 (b) prior to performing the defined manoeuvre. To perform the defined manoeuvre, the vehicle 1 10 comprises environment sensing means for determining a location of features 125, 140, 150 in a vicinity of the vehicle 1 10. 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, 140, 150 may be determined due to, for example, a resolution of an imaging device or a signal-to-noise ratio of a sensing device. Therefore a distance at which the vehicle 1 10 is controlled to stop from the features 125, 140, 150 in the vicinity of the vehicle 1 10 is determined bearing in mind the minimum distance. The vehicle 1 10 is therefore controlled to stop at the first position in Figure 1 (a) a distance 130 from the wall 125, even if the vehicle 1 10 is not entirely within the parking structure or location i.e. the opposing end of the vehicle 1 10 may protrude. In Figure 1 (b) the vehicle 100 may not be able to begin the defined manoeuvre if the distance 160, 170 between one or more of the adjacent vehicles 140, 150 is less than the minimum distance, thus the vehicle 1 10 leaving the parking space may be prevented. Embodiments of the present invention aim to ameliorate one or both of these problems.

Figure 2 illustrates a controller 200 or control unit 200 according to an embodiment of the invention.

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 input means 230 may comprise an electrical input for receiving a request signal. The request signal is indicative of a wirelessly received signal representing a user request for movement of the vehicle 1 10, as will be explained. The output means 240 may comprise an electrical output for outputting a movement signal. The movement signal represents an instruction for the vehicle 1 10 to move a predetermined distance. The instruction provided by the movement signal is provided to cause the vehicle 1 10 to move a predetermined distance in a longitudinal axis of the vehicle 1 10 i.e. generally forwards or backwards. 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 movement signal in dependence on the request signal. 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. 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 a receiver means 310 for wirelessly receiving a signal 305. The signal 305 may be received from a mobile device 390 associated with a person responsible for the vehicle 1 10. The signal 305 is indicative of a user request for vehicle movement of the vehicle 1 10, 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 1 10 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 1 10, such as may be used to gain entry and to activate or power up the vehicle 1 10. 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 1 10. 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.

The system 300 comprises a motive control means 320. The motive control means may be a motive control unit 320. The motive control means 320 is arranged to receive the movement signal output by the controller 210. The motive control means 320 is associated with one or more motive units of the vehicle 1 10 which may form part of a powertrain (not shown) of the vehicle 1 10. The motive units may comprise one or more of an internal combustion engine and one or more electric machines of the vehicle 1 10. The powertrain is arranged to provide power, or torque, to cause movement in the longitudinal axis of the vehicle 1 10 i.e. forward or backward movement of the vehicle 100 in dependence on the movement 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 1 10 to move the predetermined distance in the longitudinal axis of the vehicle i.e. to move the predetermined distance generally forwards or backwards, as will be explained. 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 some embodiments both driving torque and braking torque may be applied simultaneously in order to provide low-speed movement of the vehicle 1 10. The braking torque may also be applied at least partly after the driving torque in order to effect accurate movement of the vehicle 1 10 the predetermined distance.

The system 300 comprises environment sensing means 330 for determining information about an environment of the vehicle 1 10. In particular, the environment sensing means 330 is provided for determining a location of one or more features in a vicinity of the vehicle 1 10. 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 1 10 which is stored in the memory for use by other systems of the vehicle 1 10. With particular respect to the present invention, 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 manoeuvre may comprise, for example, parking or moving off from a parked position. As noted above, a minimum distance may be predetermined as the shortest distance which the vehicle should manoeuvre from such features. The minimum distance may be, for example 0.3m although it will be realised that this minimum distance is only provided as an example. The minimum distance may be predetermined bearing in mind a type and sensitivity of the environment sensing means 330.

The system 300 comprises defined manoeuvre means 340. The defined manoeuvre means is arranged to control the vehicle 1 10 to perform at least one defined manoeuvre. The defined manoeuvre means 340 may comprise a defined manoeuvre controller for controlling one or more systems of the vehicle 1 10 to perform one or more defined manoeuvres. The defined manoeuvre means 340 may be associated with one or more actuators 350 of the vehicle 1 10. The one or more actuators 350 are provided for effecting movement of the vehicle 1 10. The actuators may comprise one or more of a power steering mechanism arranged to provide steering of wheels of the vehicle 1 10 in dependence on signals received from the defined manoeuvre means 340. A second actuator may comprise a powered braking mechanism of the vehicle 1 10 which is arranged to actuate brakes of the vehicle in dependence on signals received from the defined manoeuvre means 340. A third actuator comprises the powertrain of the vehicle described above. To achieve control of the powertrain the defined manoeuvre means 340 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 1 10 under control of the defined manoeuvre means 340 may comprise a parking manoeuvre, such as shown in Figure 1 (a) wherein the vehicle 1 10 is controlled to arrive at a first, parked, position from a starting position to which a driver may have driven the vehicle 1 10. The one or more manoeuvres may comprise a pull-away manoeuvre wherein the vehicle 1 10 is controlled to arrive at a first position from which the driver may drive the vehicle, where the vehicle starts from a parked position i.e. the pull away manoeuvre may be considered as a de-parking manoeuvre, such as shown in Figure 1 (b). The system 300 may comprise, in some embodiments, high-resolution movement determining means (HRMDM) 360. The HRMDM 360 is provided for determining a distance of movement of the vehicle 1 10. In particular the HRMDM 360 is arranged to determine a longitudinal distance of movement of the vehicle 1 10 with greater sensitivity or resolution than possible from the environment sensing means 330. The HRMDM 360 may comprise a means for determining an angle of rotation of one or more wheels of the vehicle 1 10. In some embodiments, the HRMDM 360 is provided by an anti-lock braking system of the vehicle 1 10. The braking system comprises a sensor device associated with at least some wheels of the vehicle 1 10 for determining rotation of the respective wheel. The sensor may be arranged to monitor features which rotate with the respective wheel, such as teeth or apertures associated with a rotor or toothed gear associated with the wheel. The sensor may be a Hall sensor as will be appreciated. In this way, due to regular spacing of the features around the disc, a distance travelled by the wheel may be determined in dependence on knowledge of a diameter or circumference of the wheel. In other embodiments, the sensor may be arranged to monitor a surface in relation to which the vehicle moves i.e. to monitor movement of the ground proximal to the vehicle, such as underneath the vehicle 1 10. The HRMDM 360 may allow the distance of movement to be determined to a resolution of less than 0.1 m, in particular to less than 0.05m and, in some embodiments, less than 0.02m although other distances may be envisaged.

In some embodiments, the controller 210 is arranged to cause the application of torque in dependence on a signal output by the HRMDM 360, such that the vehicle is caused to move the predetermined distance in the longitudinal axis as determined by the HRMDM 360. In this way, in some embodiments more accurate movement of the vehicle 1 10 may be achieved. In other embodiments, the distance of movement may be determined based on, for example, a duration of torque applied to the one or more wheels of the vehicle 1 10.

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 1 10. 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 to the situation shown in Figure 1 (a).

The method 400 broadly comprises steps of receiving 410 the signal 305 from the mobile device 390 which is indicative of a user request for vehicle movement and, in dependence thereon, controlling 420 an application of torque to one or more wheels of the vehicle 1 10 to move the vehicle 1 10 a predetermined distance 510, 520 in a longitudinal axis of the vehicle 1 10.

Referring to Figure 4, the illustrated embodiment of the method 400 comprises a step of receiving 410 the signal from the mobile device 390 which is indicative of a user request for vehicle movement. The signal 305 is received at the radio unit 310 of the vehicle 1 10 from the mobile device 390. The signal is transmitted by the mobile device in response to a user input at the mobile device 390, such as a button press or voice command. The radio unit 310 may output an electrical request signal to the controller 210 indicative of the received wireless signal 305 in step 410.

In some embodiments, the wireless signal transmitted by the mobile device 390 and received at the radio unit 310 may be indicative of a requested direction of movement in the longitudinal axis i.e. one of forwards or backwards. The direction may be selected by the user of the mobile device 390.

In dependence thereon, the controller 210 may output a corresponding movement signal to instruct movement of the vehicle 1 10. The movement signal may comprise an indication of the direction of movement of the vehicle 1 10. As noted above, in some embodiments, the direction may be selected by the user of the mobile device 390. In other embodiments, the controller 210 may determine the direction of movement of the vehicle 1 10. The direction may be determined by the controller 210 based on a previous direction of movement of the vehicle 1 10 i.e. a previous predetermined distance of movement in the longitudinal axis, or by the controller 210 in dependence on the environment signal from the environment sensing means 330. The controller 210 may select a direction of movement of the vehicle 1 10 in dependence on proximity to a feature in a vicinity of the vehicle, such as to an object e.g. the wall 125. The direction of movement of the vehicle 1 10 is selected in some embodiments to move the vehicle 1 10 the predetermined distance towards the object, since it is expected that it is in this direction that the user would wish to move the vehicle 1 10. The object may be a closest object to the vehicle 1 10 where there are multiple objects denoted by the environment signal.

In step 420 torque is applied to one or more wheels of the vehicle 1 10 in order to move the vehicle in the longitudinal axis by the predetermined distance. The predetermined distance is less than the minimum distance discussed above. The predetermined distance may be, for example, less than 0.3m and particularly less than 0.2m or 0.1 m. The predetermined distance may be between 0.01 and 0.1 m. The predetermined distance may be around 0.025m. Other predetermined distances may be envisaged. The torque is applied in step 420 by the motive control means 320 receiving the movement signal, which may also denote a direction of movement of the vehicle 1 10, and controlling one or more motive units of the vehicle 1 10, such as electric motors, to apply torque to the vehicle's wheels. As discussed above, a braking torque may also be applied to one or both of accurately stop the vehicle 1 10 at the predetermined distance and to limit a speed of movement of the vehicle 1 10.

In step 430 it is determined whether the vehicle 1 10 has moved the predetermined distance in the longitudinal axis. Figure 5 illustrates the vehicle 1 10 having moved the predetermined distance 510 such that an end of the vehicle 1 10 is aligned with dashed line. As appreciated, the vehicle 1 10 has moved towards the object 125 by the predetermined distance.

Step 430 may comprise determining whether a predetermined torque has been applied to the one or more wheels for a predetermined period of time. However in some embodiments step 430 comprises the HRMDM 360 determining whether the vehicle 1 10 has moved the predetermined distance. For example, in some embodiments the HRMDM 360 may determine whether a predetermined number of features of a rotatable wheel or disc have moved past a sensor associated with the HRMDM 360. If the vehicle has not moved the predetermined distance the method returns to step 420 wherein torque continues to be applied to the one or more wheels. If, however, in step 430 the vehicle 1 10 is determined to have moved the predetermined distance the method moves to step 440.

In step 440 the vehicle is stopped at the predetermined distance. Step 440 may comprise one or both of discontinuing or ceasing the application of torque to the one or more wheels and applying a braking torque. The application of braking torque may enable more precise stopping of the vehicle 1 10 at the predetermined distance.

In step 450 it is determined whether a further signal 305 is wirelessly received from the mobile device 390. The further signal 305 is indicative of another user request for movement of the vehicle 1 10. If no further request is received in step 450 the method ends. The method may be followed by the defined manoeuvre means performing a defined manoeuvre, as discussed above, from the position of the vehicle following one or more movements by the predetermined distance which position the vehicle 1 10 at a resultant position. The resultant positon may better position the vehicle 1 10 to perform the defined manoeuvre. If a further request is received, the method 400 moves to step 460 wherein it is determined whether the vehicle has already moved a predetermined total movement distance in the longitudinal axis. The predetermined total movement distance may comprise n movements of the predetermined distance in the longitudinal axis, wherein n is an integer value between 1 and a maximum value which may be 10, 5 or 4, although other values may be chosen. If the vehicle has moved less than the total movement distance, such that a further movement by the predetermined distance is permitted, the method 400 moves to step 420. In a further iteration of step 420 torque is again applied to the one or more wheels of the vehicle 100 to move the vehicle 1 10 a further predetermined distance in the longitudinal axis of the vehicle 1 10. Figure 5 illustrates a second or further movement 520 of the vehicle 1 10 to a second position denoted by dotted line.

If the vehicle 1 10 has already moved the predetermined total movement distance, a notification may be output to the person responsible for the vehicle. The notification may be output via the mobile device 390 or from the vehicle 1 10 itself, such as audibly.

As a result of the method 400 the vehicle may be more advantageously positioned either following performance of a defined manoeuvre, or prior to performance of a defined manoeuvre. It will also be appreciated that embodiments of the present are not limited to being useful in association with a defined manoeuvre. It may be useful to move the vehicle 1 10 by the predetermined distance even when parked or prior to 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

A controller, comprising: input means for receiving a request signal indicative of a wirelessly received signal indicative of a user request for vehicle movement; output means for outputting a movement signal to cause an application of torque to one or more wheels of the vehicle to move the vehicle a predetermined distance in a longitudinal axis of the vehicle; and control means arranged to control the output means to output the movement signal in dependence on the request signal.

The controller of claim 1 , wherein: the control means is arranged to receive one or more further request signals indicative of further user requests for vehicle movement; and the control means is arranged to control the output means to output further movement signals, in dependence on each of the received further request signals, such that the vehicle is caused to move the predetermined distance in the longitudinal axis of the vehicle in dependence on each further request signal.

The controller of claim 2, wherein the control means is arranged to cause the vehicle to move the predetermined distance in the longitudinal axis of the vehicle up to a predetermined total movement distance in the longitudinal axis.

The controller of claim 1 , 2 or 3, wherein the predetermined distance is a predetermined distance with respect to a first position of the vehicle.

A system, comprising: receiver means for wirelessly receiving a signal from a mobile device indicative of a user request for vehicle movement and outputting the request signal in dependence thereon; motive control means for receiving the movement signal and controlling the application of torque to the one or more wheels of the vehicle to move the predetermined distance in the longitudinal axis of the vehicle; and the controller of claim 1 , 2 or 3 arranged to receive the request signal and to output the movement signal.

The system of claim 5, comprising: environment sensing means for determining a location of one or more features in a vicinity of the vehicle and outputting an environment signal indicative thereof; and defined manoeuvre means for controlling the vehicle to perform a defined manoeuvre in dependence on the environment signal with respect to a first position of the vehicle.

The system of claim 6, wherein: the defined manoeuvre means is arranged for controlling the vehicle to perform the defined manoeuvre to the first position of the vehicle, and the predetermined distance is a predetermined distance from the first position.

The system of claim 6, wherein: the predetermined distance is a predetermined distance from the first position to a resultant position of the vehicle, and the defined manoeuvre means is arranged for controlling the vehicle to perform the defined manoeuvre from the resultant position of the vehicle.

The system of any of claims 5 to 8, wherein: the defined manoeuvre means is arranged for controlling the vehicle to position the vehicle a predetermined minimum parking distance from a feature in the vicinity of the vehicle; and the predetermined distance is less than the predetermined minimum parking distance.

10. The system of claim 5 or any claim dependent thereon, comprising: environment sensing means for determining a location of one or more features in a vicinity of the vehicle and outputting an environment signal indicative thereof; and wherein the controller is arranged to select a direction of vehicle movement in the longitudinal axis in dependence on the environment signal.

1 1 . The system of claim 10, wherein the direction of vehicle movement is selected to move the vehicle the predetermined distance towards the feature.

12. The system of any of claims 5 to 9, comprising determining a direction of vehicle movement in the longitudinal axis in dependence on the request signal.

13. The system of any of claims 5 to 12, comprising high-resolution movement determining means for determining a distance of movement of the vehicle, wherein the control means is arranged to cause the application of torque in dependence on a signal output by the high-resolution movement determining means such that the vehicle is caused to move the predetermined distance in the longitudinal axis.

14. The system of claim 13, wherein the high-resolution movement determining means comprises a means for determining an angle of rotation of one or more wheels of the vehicle.

15. A method of controlling movement of a vehicle, the method comprising: receiving a signal from a mobile device indicative of a user request for vehicle movement; and controlling an application of torque to one or more wheels of the vehicle, in dependence on the received signal, such that the vehicle is caused to move a predetermined distance in a longitudinal axis of the vehicle.

16. The method of claim 15, comprising: receiving one or more further signals from the mobile device indicative of further user requests for vehicle movement; controlling an application of torque to the one or more wheels of the vehicle in dependence on the received further signals, such that the vehicle is caused to move the predetermined distance in the longitudinal axis of the vehicle in dependence on each further signal.

17. The method of claim 16, wherein the vehicle is caused to move the predetermined distance in the longitudinal axis of the vehicle up to a predetermined total movement distance in the longitudinal axis.

18. The method of claim 15, wherein the high-resolution movement determining means comprises a means for determining an angle of rotation of one or more wheels of the vehicle.

19. The method of any of claims 15 to 18, comprising: performing a defined manoeuvre of the vehicle in dependence on one or more environment sensing means associated with the vehicle to position the vehicle in a first position with respect to a feature in the vicinity of the vehicle;

20. The method of claim 19, wherein the defined manoeuvre is performed to manoeuvre the vehicle to the first position and the predetermined distance is a predetermined distance from the first position.

21 . The method of claim 19, wherein the predetermined distance is a predetermined distance from the first position to a resultant position of the vehicle, and the defined manoeuvre is performed to manoeuvre the vehicle from the resultant position of the vehicle.

22. The method of claim 19, 20 or 21 , wherein: the first position is a predetermined minimum parking distance from the feature in the vicinity of the vehicle; and the predetermined distance is less than the predetermined minimum parking distance.

23. The method of any of claims 15 to 22, comprising selecting a direction of vehicle movement in the longitudinal axis in dependence on a proximity to a feature in a vicinity of the vehicle.

24. The method of claim 23, wherein the direction of vehicle movement is selected to move the vehicle the predetermined distance towards the object.

25. The method of any of claims 15 to 22, comprising determining a direction of vehicle movement in the longitudinal axis in dependence on the signal received from the mobile device.

26. The method of any of claims 15 to 25, comprising: determining, by a high-resolution movement determining means, when the vehicle has moved the predetermined distance in the longitudinal axis.

27. The method of claim 26, wherein the application of torque is controlled in dependence on a signal output by the high-resolution movement determining means of the vehicle, such that the vehicle is caused to move the predetermined distance in the longitudinal axis.

28. The controller, system or method of any preceding claim, wherein the predetermined distance is between 0.1 and 0.1 m.

29. A vehicle comprising a controller according to any of claims 1 to 4, a system according to any of claims 5 to 14 or arranged to perform a method according to any of claims 15 to 27.

30. Computer software which, when executed by a processing means, is arranged to perform a method according to any of claims 15 to 27.

31 . The computer software of claim 30 stored on a computer readable medium.