DE112017003982T5 - Systems and methods for controlling vehicle maneuvers - Google Patents

Abstract

Embodiments of the present invention provide systems and methods for improving autonomous control of vehicles by storing environmental data while driving the vehicle and subsequently searching the environmental data for an appropriate location to perform an autonomous maneuver after a user requests that the vehicle engage performs autonomous maneuver. Embodiments of the invention provide systems and methods for locating the appropriate location and initiating at least semi-autonomous driving of the vehicle to the appropriate location.

Description

TECHNICAL AREA

The present disclosure relates to systems and methods for controlling vehicle maneuvers, and more particularly, but not exclusively, to systems and methods for controlling vehicle maneuvers where limited space is available. Aspects of the invention relate to a system, a controller, a computer program product, a non-transitory computer-readable medium, a processor, a vehicle, and a method.

STATE OF THE ART

Some modern vehicles have the ability to perform maneuvers essentially autonomously. During such autonomous maneuvers, the user allows the vehicle to control the steering to maneuver the vehicle to a destination set by the user or identified by the vehicle. The user may maintain control of the powertrain controls (i.e., the accelerator pedal, brake pedal, gear selector, and clutch pedal in manual transmission vehicles) during the maneuver, or the vehicle may also control at least some of these inputs.

During an autonomous maneuver, a vehicle, using inputs from multiple sensors, determines which portions of the terrain surrounding the vehicle are suitable for driving, and controls the vehicle to travel only on terrain that determined the vehicle to be suitable. However, under certain circumstances, the area of suitable terrain surrounding the vehicle may be too small to perform the requested maneuver therein. In prior art vehicles that can perform autonomous or semi-autonomous maneuvers, the user typically must retain control of the vehicle until they arrive at an appropriate location to perform the maneuver. Although this is always somewhat inconvenient, it can be particularly problematic if the user has requested that the vehicle perform an autonomous maneuver because the road or the path in front of the vehicle is blocked because the user most likely needs to reset to an appropriate location, to perform the maneuver. In fact, resetting the vehicle to a suitable location for a maneuver may be more of a challenge to the driver than performing the maneuver itself, particularly under all-terrain conditions or on steep roads or paths.

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

BRIEF SUMMARY OF THE INVENTION

Aspects and embodiments of the invention provide a system, a controller, a method, a computer program product, a non-transitory computer-readable medium, a processor, and a vehicle as claimed in the appended claims.

According to one aspect of the invention, there is provided a driver assistance system for a vehicle, comprising: environment detection means configured to obtain environmental data, the environment data indicating an environment near the vehicle; an input means configured to receive a request to perform a maneuver; and a control means having access to a memory, wherein the control means is configured to store, at least periodically along a path of the vehicle, a representation of the environmental data in the memory, the control means being communicably coupled to the input means and upon receipt of a request configured to perform a maneuver via the input means to: search the representation of the environmental data stored in the memory to locate a maneuver location that has sufficient space to perform the maneuver; and initiating at least semi-autonomous driving of the vehicle to the maneuver location.

The request to perform the maneuver may be received after storing the representation of the environmental data in the memory. Advantageously, environment data already stored in the memory may be searched for the maneuver location. Advantageously, the maneuver location may be found in environmental data present in the memory.

The environment data may already be stored in the memory when the request to perform the maneuver is received. Advantageously, it is not necessary to know a need to perform the maneuver prior to storing the environmental data.

The maneuver may be a vehicle overtaking maneuver. When a vehicle is unexpectedly encountered, a vehicle overhaul location can be advantageously found.

The control means is optionally arranged to search the representation of the environment data stored in the memory corresponding to the environment outside a current region of the environment detection means for the maneuver location. Advantageously, the maneuver location may be found outside of the range of the environment detection means.

Optionally, the environment sensing means includes one or more of the following: a radar-based terrain rangefinder, a laser-based terrain rangefinder, a plurality of ultrasound sensors, a structured light camera, or a structure-by-motion monocular camera. The input means may include, but is not limited to, a user interface. The control means may comprise one or more of the following: an electronic control unit (ECU), a control device and an (electronic) processor.

The use of such a system may advantageously allow the autonomous maneuvering functionality of a vehicle to be used when the vehicle does not have enough space to perform a maneuver at its current location.

The footprint may include: a request that the road width exceed a minimum safe road width, a request that at least a minimum safe road width be maintained for a minimum longitudinal distance from the maneuver location, or a request that for a portion of the road around the maneuver location around, the road width exceeds a variable minimum safe road width, the minimum varying as a function of the longitudinal distance from the maneuver location.

In one embodiment, the control means is configured to calculate the space required to perform the maneuver. Optionally, the system comprises vehicle detection means, wherein the vehicle detection means is in communication with the control means and is configured to generate an output relative to a size of another vehicle, the control means being configured to reduce the footprint of the maneuver as a function of the output of the other vehicle. The maneuver may include maneuvering the vehicle to a location that allows sufficient space to overtake the other vehicle. This is particularly advantageous in situations where a vehicle encounters an oncoming vehicle when the road or path is too narrow for the vehicles to overtake because resetting the vehicle to a suitable overtaking location can be a particularly difficult maneuver.

Optionally, the vehicle detection means comprises one or more cameras. Advantageously, a camera may provide data that may be used to identify the vehicle type of oncoming vehicle.

In one embodiment, the control means is configured to identify a vehicle type of the other vehicle using the output from the vehicle detection means and determine the footprint of the maneuver in dependence on the identified vehicle type. Optionally, determining the footprint of the maneuver depending on the identified vehicle type comprises calculating the size of the other vehicle by reference to a lookup table containing vehicle dimensions for a plurality of different vehicle types. Advantageously, more information about the size of an oncoming vehicle may be derived from the vehicle type than might be inferred by image recognition or other object detection techniques.

Optionally, the environment sensing means includes one or more of the following: a radar-based terrain rangefinder, a laser-based terrain rangefinder, a plurality of ultrasound sensors, a structured light camera, or a structure-by-motion monocular camera. Advantageously, at least some of these systems may provide alternative functionality in addition to their use in the system of the present invention. For example, one or more of the above systems may provide data to an adaptive cruise control (ACC) system or a vehicle parking assist system.

In one embodiment, the environment detection means is configured to generate a point cloud representation of the environment proximate to the vehicle, and the environmental data comprises a point cloud representation of a portion of the environment over which the vehicle has traveled. Such a representation may provide a convenient three-dimensional representation of the environment surrounding the vehicle.

Optionally, the system is configured to begin recording environmental data in response to one or more of the following: user input instructing the system to begin recording environmental data; an automatic determination that the vehicle is traveling on a narrow route; and an automatic determination that the vehicle is on a Route drives for which map data is not available. This can avoid storing excessively large data sets while ensuring that sufficient environmental data is available in situations where the system of the present invention is likely to be used. Alternatively, the system is configured to continuously record environmental data during operation of the vehicle. Data may be erased a predetermined time after storage or when the amount of data stored by the system exceeds a predetermined amount. Preferably, data that has been recorded a long time ago is deleted from newer data.

In one embodiment, the maneuver includes turning the vehicle so that it faces substantially in the opposite direction. This may be particularly advantageous in situations where the vehicle is traveling on a narrow path and finding the forward route blocked by an immovable object such as a fallen tree.

Optionally, the environment sensing means comprises a first group of one or more sensors, wherein the vehicle sensing means comprises a second group of one or more sensors and at least one of the sensors in the second group of sensors is also in the first group of sensors. This can reduce the total number of sensors required by the system, thereby reducing the cost of the system.

Optionally, the environment sensing means comprises one or more environmental sensors configured to obtain environmental data, and the control means is a controller comprising an electronic processor electrically coupled to an electronic memory, the electronic memory having instructions stored thereon, the processor is configured to access the electronic memory and execute the instructions stored thereon so as to be operable to instruct, at least periodically along a path of the vehicle, the electronic memory to store a representation of the environmental data, the processor providing an (optional electrical) input to the electronic memory Receiving a request to perform a maneuver over the input means and the input means comprises a user interface.

Optionally, the electronic memory comprises a first electronic storage device and a second electronic storage device, and wherein the instructions are stored on the first electronic storage device and the representation of the environmental data is stored on the second electronic storage device.

Optionally, the environmental sensors output an electrical signal indicative of the environmental data, and wherein the electronic processor has an electrical input for receiving the electrical signal indicative of the environmental data.

The control means may be arranged to store the representation of the environmental data along at least a portion of the path of the vehicle in the memory. The control means may be arranged to search the representation of the environmental data stored in the memory along at least a portion of the path of the vehicle.

According to another aspect of the present invention, there is provided a control system for a driver assistance system of a vehicle, comprising: input means for receiving environmental data from one or more environment detection means, the environment data indicating an environment near the vehicle; a control means arranged to store, at least periodically along a path of the vehicle, a representation of the environmental data in a memory accessible to the control device; wherein the control means is arranged, in response to receiving an input indicative of a request to perform a vehicle maneuver, to search the representation of the environmental data stored in the memory for a maneuver location along the path of the vehicle at which there is a space required to perform the vehicle maneuver is satisfied; and initiate at least semi-autonomous driving of the vehicle to the maneuver location.

The input indicating the request to perform the vehicle maneuver may be received after storing the environmental data in the memory.

Optionally, the maneuver is a vehicle overtaking maneuver.

According to another aspect of the present invention, there is provided a method of operating a vehicle, comprising: storing environmental data in a memory at least periodically along a path of the vehicle, the environmental data indicating an environment proximate to the vehicle; and in response to receipt of an input indicating a request to perform a vehicle maneuver: searching the environment data stored in the memory for a maneuver location along the path of the vehicle where space is needed to perform the maneuver; and initiating at least semi-autonomous driving of the vehicle to the maneuver location.

The input indicating the request to perform the vehicle maneuver is received after storing the environment data in the memory.

The maneuver may be a vehicle overtaking maneuver.

The environmental data stored in the memory corresponding to the environment outside of a current range of environmental detection means associated with the vehicle may be searched for the maneuver location.

According to another aspect of the present invention, there is provided a computer program product executable on a processor to implement a method as described above.

According to another aspect of the present invention, there is provided a non-transitory computer-readable medium including computer-readable code that, when executed by a computer, causes a vehicle to perform a method as described above.

According to another aspect of the present invention, there is provided a processor arranged to implement a method or computer program product as described above.

According to another aspect of the present invention, there is provided a vehicle comprising a system, a controller, a computer program product, a non-transitory computer-readable medium, or a processor as described above.

In accordance with another aspect of the present invention, systems and methods are provided for enhancing autonomous control of vehicles by storing environmental data while the vehicle is traveling and then searching the environmental data for a suitable location to perform an autonomous maneuver after a user requests that the vehicle performs an autonomous maneuver. Embodiments of the invention provide systems and methods for locating the appropriate location and initiating at least semi-autonomous driving of the vehicle to the appropriate location.

It is expressly intended, within the scope of this application, that the various aspects, embodiments, examples, and alternatives set forth in the preceding paragraphs, claims, and / or description and drawings, and in particular, their individual features, independently of each other or can be considered in any combination with each other. This means that all embodiments and / or features of any embodiment can be combined in any manner and / or in any combination, provided that these features are not incompatible. The Applicant reserves the right to change any claim originally filed or to submit any new claim, including the right to alter any originally filed claim, to vary and / or rely on any feature of any other claim although it was previously unclaimed in this way.

list of figures

• 1 ein Blockdiagramm eines Systems für ein Fahrzeug in einer Ausführungsform der vorliegenden Erfindung;
• 2 eine graphische Darstellung einer digitalen Karte, die durch ein System in Ausführungsformen der vorliegenden Erfindung erzeugt wird;
• 3 ein Flussdiagramm, das ein Verfahren zum Betreiben eines Fahrzeugs in einer Ausführungsform der vorliegenden Erfindung darstellt;
• 4 ein Flussdiagramm, das ein Verfahren zum Betreiben eines Fahrzeugs in einer anderen Ausführungsform der vorliegenden Erfindung darstellt; und
• 5 ein Fahrzeug in einer Ausführungsform der vorliegenden Erfindung.

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

• 1 a block diagram of a system for a vehicle in an embodiment of the present invention;
• 2 FIG. 4 is a graphical representation of a digital map generated by a system in embodiments of the present invention; FIG.
• 3 a flowchart illustrating a method for operating a vehicle in an embodiment of the present invention;
• 4 a flowchart illustrating a method of operating a vehicle in another embodiment of the present invention; and
• 5 a vehicle in an embodiment of the present invention.

DETAILED DESCRIPTION

1 shows a system 10 in one embodiment of the present invention, and 5 shows a vehicle 100 in which the in 1 shown system can be installed. The system 10 comprises a control means 12 which in the illustrated embodiment is an autonomous maneuver (AM) control device. The AM control device 12 comprises a memory means in the form of an electronic memory 14 and a processing agent 16 that with the electronic memory communicatively connected. In the illustrated embodiment, the processing means is a processor. The AM control device 12 comprises an input means comprising one or more electrical inputs arranged to communicate with one or more detection means. In the illustrated embodiment, the detection means comprises one or more environmental sensors 18 configured to receive information regarding the environment surrounding the vehicle and to generate environmental data indicative of the received information regarding the environment surrounding the vehicle. The environmental sensors may include a radar-assisted off-road system, a laser-assisted off-road system, a plurality of ultrasonic sensors, a structured light camera, or a structure-by-motion monocular camera, and may also provide data to other vehicle systems, such as an adaptive cruise control system or a parking assist system.

The AM control device 12 is with user input means in the form of a user interface 38 coupled so that signals indicative of an input provided by a user at the user interface to the AM control device 12 can be transmitted. The user interface 38 may be a touch screen or other suitable user interface such as a voice input or gesture recognition interface. In any case, the user interface 38 configured to receive an input indicating a user request that the vehicle is performing an autonomous maneuver and a signal indicating such a request to the AM controller 12 to convey. Upon receiving the request to perform an autonomous maneuver, the AM control device is 12 configured, an autonomous control of a vehicle 100 by communicating with the steering system controller 26 and in some embodiments with the powertrain system controller 32 initiate. The steering system control device 26 and in some embodiments, the powertrain control device 32 Both are with the AM controller 12 communicatively coupled.

The steering system control device 26 includes a processor 28 and an electronic memory 30 and is provided with an actuator means of a power steering system 22 , For example, an electric motor or hydraulic system, communicatively coupled. The steering system control device 26 is configured to the actuator of the power steering system 22 provide electrical inputs to thereby steer a vehicle 100 to control.

The powertrain system control device 32 includes a processor 34 and an electronic memory 36 and is with one or more powertrain controller actuators 24 communicatively coupled. For example, the powertrain system controller may be configured with a linear actuator configured to an accelerator pedal of the vehicle 100 to be controlled, and communicatively coupled to a linear actuator that is configured to brake the vehicle 100 to control. In some embodiments, particularly embodiments in which the vehicle 100 a manual transmission, the powertrain system controller may also be configured to control actuators including a clutch pedal and / or a gear selector lever of the vehicle 100 control. The powertrain system control device 26 is configured to provide inputs to the actuators that control the pedals and / or the gear selector lever of the vehicle to thereby control the driveline of a vehicle 100 to control. Alternatively, the powertrain system controller 32 can not be operable to directly control the pedals, and instead can provide inputs directly to the systems, which are controlled depending on the position of the pedals. For example, in vehicles having a powertrain control device for an electronic accelerator, where the user's inputs to the pedals are converted to electrical signals indicative of the position of the pedals, the powertrain system controller 32 provide electrical signals to the systems controlled by the pedals, which signals may replace the signals indicative of the position of the pedals when the vehicle is operated in an autonomous mode thereof.

Although the in 1 embodiment shown an AM control device 12 represented with the powertrain system controller 32 communicatively coupled, it will be understood that in some embodiments, the system is inoperative of inputs to the powertrain system controller 32 and, in fact, a powertrain system controller 32 not as part of the system 10 be provided. In such embodiments, the user may retain control of the accelerator pedal and brake pedal (as well as the clutch pedal and gear selector for manual transmission vehicles) during autonomous maneuvers. The vehicle may provide instructions to the user as to which drive control inputs are required from them to complete the maneuver.

Upon receipt of a request to perform an autonomous maneuver from the user interface 38 is the AM control device 12 configured to determine a first zone of the terrain surrounding the vehicle such that the first zone only includes terrain from which the control device 12 has determined that the vehicle can drive on it. The AM control device 12 includes only terrain in the first zone, if it has determined that the terrain is suitable so that the vehicle can drive on it with a sufficiently high level of confidence.

The first zone is typically defined in accordance with environmental data received from environmental sensors 18 be received. In the illustrated embodiment, the environment detection means comprises 18 a plurality of scanning lasers arranged to generate a dot cloud representation of the terrain surrounding the vehicle as well as any obstacles that may be present in the vicinity of the vehicle. It should be understood that a single scanning laser could also be used to create a dot cloud representation of the surrounding vehicle environment. However, the use of more than one scanning laser can improve the speed at which such a representation can be generated and can provide a wider field of view than a single scanning laser.

According to embodiments of the present invention, the AM control device 12 be configured to environmental data from environmental sensors 18 to receive while the vehicle 100 whether autonomous or otherwise. Such environmental data can be stored in electronic memory 14 or other computer readable storage device. As explained in greater detail below, the storage of environmental data may be initiated by user input to instruct the system to begin recording environmental data or in response to an automatic determination that the vehicle is traveling on a narrow route or route the map data is not available. The recording of environmental data may allow the AM controller to define a first zone that includes terrain that is not currently within range of the environmental sensors 18 is located when environmental data has been recorded.

2 shows a graphical representation of a digital map through the system 10 of the present invention, which is in a vehicle 100 was installed. In the in 2 The digital map shown was initiated recording of environmental data as the vehicle near a line 56 and the system has stored environmental data indicating the environment near the vehicle while moving from its position where recording was initiated to that in 2 shown position moves. In the in 2 show map shown lines 54 and 52 Track edges, which could be one or more of the following: elevated curbs, ditches, ditches, cliffs or any other linear boundary affecting the vehicle 100 can not or should not cross. As in 2 is the forward path (i.e., generally left to right) of the vehicle 100 through an obstacle 102 blocked, which is an oncoming vehicle 102 that is too big for the vehicle 100 without crossing one of the track edges 52 . 54 to overtake in the illustrated embodiment. It should be understood, however, that the present invention may also be useful in situations where a path through another obstacle, such as a parked vehicle or fallen tree, is blocked. Because the vehicle 100 in through the digital map in 2 is unable to continue in a forward direction, a user may request that the vehicle perform an autonomous maneuver. If, for example, the obstacle 102 is an oncoming vehicle, the user may request that the vehicle be returned to an appropriate location to allow the oncoming vehicle to overtake. Alternatively, the user may request that the vehicle make a U-turn so that they can search for an alternative route.

As in 2 is the distance between the track edges 52 . 54 near the current position of the vehicle 100 too small to let the vehicle 100 in which the system 10 installed, the oncoming vehicle 102 overhauled, or to allow the oncoming vehicle 102 the vehicle 100 outdated. In addition, the distance between the track edges 52 . 54 for the vehicle 100 too small to make a U-turn at its current location. After it was realized that the lane for the vehicles 100 . 102 too narrow to overtake each other, can be a user of the vehicle 100 a request via the user interface 38 Enter that the vehicle performs an autonomous maneuver. For example, the user may enter a request that the vehicle is traveling to a passing location, ie, to a location that is the oncoming vehicle 102 allowed the vehicle 100 to overtake. This can be interpreted as a requirement that the vehicle 100 maneuvering to the side of the lane while leaving ample space for the oncoming vehicle to maneuver 102 can overtake.

If the vehicle is on the in 2 shown location, the system can 10 this in 3 illustrated method 200 to implement. The procedure is in step 202 initiated and then moves to step 204 when a user request for autonomous driving of the vehicle is received to a Überholstandort, for example via the user interface 38 , After receiving a request to autonomously drive to a passing location, the process moves to step 206 in which the system determines a size of the oncoming vehicle. This can be done by detecting the width of the oncoming vehicle using the environmental sensor 18 or another sensor. Alternatively, the system may have access to a database of the dimensions of common vehicle types that may be stored in an on-board storage device or in a cloud storage location to which the system has access. In this case, the environmental sensor 18 or another sensor, such as a front-facing camera, may be arranged to determine the type of oncoming vehicle, and then the system may detect a signal indicative of the oncoming vehicle type and the latitude and / or longitude of the oncoming vehicle Vehicle determined by reference to the database. When the system in step 206 is unable to accurately determine a size of the oncoming vehicle, then the method may proceed based on an assumed vehicle size that may be representative of a large vehicle so as to ensure that the likelihood that the system has a Inadequate Overtaking Site identified, reduced. Alternatively, the system may prompt the user to provide an input indicative of the approximate size of the oncoming vehicle.

Once the system has determined a size of the oncoming vehicle, the method continues with step 208 The system continues to poll the environment data stored on the 2 shown digital map, searched for a suitable Überholstandort. From the environment data, the system can create a first zone 60 Identify by track edges 52 . 54 is limited, represent the limits for which the system has determined that it should not cross the vehicle, and lines 56 and 58 that represent boundaries beyond the unavailable environmental data. The first zone 60 represents a driving area, ie terrain determined by the system to be suitable for driving. In step 208 The system searches the first zone 60 after an area of a driving area that is large enough to allow the vehicle 100 and the oncoming vehicle 102 safely overtake each other. For example, the system may determine a footprint that is a required path width maintained for a required path length, the width and length depending on the particular size of the oncoming vehicle 102 and the size of the host vehicle 100 can be determined. The system can then search the first zone for a location that meets the space requirements. In the in 2 the situation shown extends the first zone 60 in which by the arrow 62 specified area. Accordingly, the system determines in step 208 in that an overtaking location is indicated by the arrow 62 displayed area exists.

Once the system has identified a suitable overhaul location, the system initiates in step 210 at least a semi-autonomous driving of the vehicle to the Überholstandort. The process then ends at step 212 as soon as the vehicle has been driven to the overhaul location.

In some embodiments, the system may offer the user the option that the vehicle is autonomously performing a non-overtaking maneuver, such as a U-turn, and the vehicle may be operable to autonomously drive the vehicle to an appropriate location if there is insufficient space to perform the maneuver on current location of the vehicle is available. The ability to perform an autonomous maneuver, such as an autonomous turn, may be provided in addition to or in lieu of the ability to autonomously drive the vehicle to an overtaking location. It should be understood that an autonomous U-turn may be particularly useful in situations where the vehicle arrives at a blockade such as a parked vehicle or a fallen tree on a narrow lane.

A procedure 220 to perform an autonomous non-overtaking maneuver is in 4 shown. The procedure begins at step 222 and go with step 224 when an input indicating a user request to perform an autonomous maneuver is received, for example via the user interface 38 , Upon receipt of the input indicating a user request to perform an autonomous maneuver, the procedure moves to step 226 in which the system determines a space requirement of the maneuver. For a U-turn, the footprint may be a requirement that an area of a running area exceeding a predetermined lane width for a predetermined lane length be available. The predetermined track width and length may be based on the vehicle dimensions and the turning ability and may be representative of the smallest area where the vehicle may make an autonomous turnaround. In fact, the required track width may vary depending on the track length measured from a given reference surface since the maximum width is needed only for a relatively small portion of the required range. In some embodiments, the system may calculate the footprint directly each time an autonomous no-overtake maneuver is requested. Alternatively, the system may have access to a database containing the space required for all autonomous no-overtaking maneuvers for which the system is operable to initiate execution.

Once the footprint has been determined, the process moves to step 228 The system then searches the stored environment data for an appropriate maneuver location, at which point in step 226 certain space requirement is met. Once an appropriate maneuver location has been identified, the process moves to step 230 in which the system initiates autonomous driving of the vehicle to the maneuver location. The process then proceeds to step 232 on which the system is performing the procedure described in step 222 requested autonomous maneuver. Once the autonomous maneuver is completed, the process ends at step 234 ,

It is understood that embodiments of the present invention may be implemented in the form of hardware, software, or a combination of hardware and software. Such software may be in the form of volatile or nonvolatile storage, such as a storage device such as a ROM, whether erasable or overwritable or not, or in the form of memory such as memory. As RAM, memory chips, - device or integrated circuits or on an optically or magnetically readable medium, such as a CD, DVD, magnetic disk or a magnetic tape are stored. It is noted that the storage devices and storage media are embodiments of machine-readable storage suitable for storing a program or programs that, when executed, implement embodiments of the present invention. Accordingly, embodiments provide program code, code for implementing a system or method as claimed in any one of the appended claims, and a machine-readable memory storing such a program. Further, embodiments of the present invention may be electronically communicated over any medium, such as via a communication signal transmitted over a wired or wireless connection, and embodiments may include accordingly.

All of the features disclosed in this specification (including any appended claims, abstract and drawings) and / or all of the steps of any such disclosed methods or operations may be combined as desired, except for combinations in which at least some of these features and / or steps exclude each other.

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

The invention is not limited to the details of any of the above embodiments. The invention extends to any novel feature or combination of features disclosed in this specification (including any appended claims, summary and drawings) or any novel or novel combination of the steps of any method or process so disclosed. The claims should not be construed to cover only the above embodiments, but also any embodiments falling within the scope of the claims.

Claims (30)

Driver assistance system for a vehicle, comprising: Environment sensing means configured to obtain environmental data, wherein the environmental data indicates an environment proximate to the vehicle; an input means configured to receive a request to perform a maneuver; and a control means having access to a memory, the control means being configured to store a representation of the environmental data in the memory at least periodically along a path of the vehicle, wherein the control means is communicably coupled to the input means and configured to receive a request to perform a maneuver via the input means to: Searching the representation of the environmental data stored in the memory to locate a maneuver location that has sufficient space to perform the maneuver; and Initiating at least semi-autonomous driving of the vehicle to the maneuver location. Driver assistance system after Claim 1 wherein the request to perform the maneuver is received after presentation of the environment data stored in the memory. Driver assistance system after Claim 1 or 2 , where the maneuver is a vehicle overtaking maneuver. Driver assistance system after Claim 1 . 2 or 3 wherein the control means is arranged to search the representation of the environment data stored in the memory corresponding to the environment outside a current range of the environment detection means for the maneuver location. A driver assistance system according to any one of the preceding claims, wherein the control means is configured to calculate the space required to perform the maneuver. Driver assistance system after Claim 5 wherein the system comprises a vehicle detection means, the vehicle detection means being in communication with the control means and configured to generate an output related to the size of another vehicle, the control means being configured to control the footprint of the maneuver in dependence from the output regarding the size of another vehicle. Driver assistance system after Claim 6 wherein the maneuver includes maneuvering the vehicle to a location that provides ample space for the other overtaking vehicle. Driver assistance system after Claim 6 or 7 wherein the vehicle detection means comprises one or more cameras. Driver assistance system according to one of Claims 6 to 8th wherein the control means is configured to identify a vehicle type of the other vehicle using the output of the vehicle detection means and determine the footprint of the maneuver depending on the identified vehicle type. Driver assistance system after Claim 9 wherein determining the footprint of the maneuver depending on the identified vehicle type comprises calculating the size of the other vehicle by referring to a look-up table that includes vehicle dimensions for a plurality of different vehicle types. The driver assistance system of claim 1, wherein the environment detection means comprises one or more of: a radar-based terrain range measurement system, a laser-based terrain range measurement system, a plurality of ultrasonic sensors, a structured light camera, or a structure-by-motion monocular camera. A driver assistance system according to any one of the preceding claims, wherein the environment detection means is configured to generate a point cloud representation of the environment proximate the vehicle, and the environmental data comprises a point cloud representation of a portion of the environment over which the vehicle has traveled. The driver assistance system of claim 1, wherein the system is configured to begin storing the representation of the environmental data in response to one or more of the following: a user input instructing the system to begin recording environmental data; an automatic determination that the vehicle is traveling on a narrow route; and an automatic determination that the vehicle is traveling on a route for which no map data is available. Driver assistance system according to one of Claims 1 to 13 wherein the system is configured to continuously store the representation of the environmental data during operation of the vehicle in the memory. A driver assistance system according to any one of the preceding claims, wherein the maneuver comprises turning the vehicle so that it faces substantially in the opposite direction. Driver assistance system after Claim 6 , or one of Claims 7 to 15 if from Claim 6 dependent, wherein the environment detection means comprises a first group of one or more sensors, the vehicle detection means comprises a second group of one or more sensors and at least one of the sensors in the second group of sensors is also in the first group of sensors. The driver assistance system of any of the preceding claims, wherein: the environment detection means comprises one or more environmental sensors configured to obtain environmental data; the control means is a control device comprising an electronic processor electrically connected to an electronic memory, the electronic memory having instructions stored therein, the processor being configured to access the electronic memory and perform the instructions stored therein; that it is operable to instruct the electronic memory, at least periodically along a path of the vehicle, to store a representation of the environmental data, wherein the processor has an input for receiving a request to perform a maneuver via the input means and the input means comprises a user interface. Driver assistance system after Claim 17 wherein the electronic memory comprises a first electronic storage device and a second electronic storage device, and wherein the instructions are stored on the first electronic storage device and the representation of the environmental data is stored on the second electronic storage device. Driver assistance system after Claim 17 or 18 wherein the environmental sensors output an electrical signal indicative of the environmental data, and wherein the electronic processor has an electrical input for receiving the electrical signal indicative of the environmental data. A control system for a driver assistance system of a vehicle, comprising: an input means for receiving environmental data from one or more environmental detection means, the environmental data indicating an environment near the vehicle; a control means arranged to store, at least periodically along a path of the vehicle, a representation of the environmental data in a memory accessible to the control device; wherein the control means is arranged, in response to receiving an input indicative of a request to perform a vehicle maneuver, to search the representation of the environmental data stored in the memory for a maneuver location along the path of the vehicle at which space is required to perform the vehicle maneuver is satisfied; and Initiating at least semi-autonomous driving of the vehicle to the maneuver location. Control device after Claim 20 wherein the input indicating the request to perform the vehicle maneuver is received after storing the environmental data in the memory. Control device after Claim 20 or 21 , where the maneuver is a vehicle overtaking maneuver. A method of operating a vehicle, comprising: at least periodically along a path of the vehicle, storing environmental data in a memory, the environmental data indicating an environment proximate to the vehicle; and in response to receiving an input indicating a request to perform a vehicle maneuver: Searching the environment data stored in the memory for a maneuver location along the path of the vehicle that requires space to perform the maneuver; and Initiating at least semi-autonomous driving of the vehicle to the maneuver location. Method according to Claim 23 wherein the input indicating the request to perform the vehicle maneuver is received after storing the environmental data in the memory. Method according to Claim 23 or 24 , where the maneuver is a vehicle overtaking maneuver. Method according to Claim 23 . 24 or 25 wherein the environmental data stored in the memory corresponding to the environment outside of a current range of the environment detection means associated with the vehicle is searched for a maneuver location. Computer program product, executable on a processor, to perform a procedure according to one of Claims 23 to 26 to implement. Non-transitory computer-readable medium carrying computer-readable code that, when executed, causes a vehicle to perform the method of any one of Claims 23 to 26 performs. Processor arranged to follow the procedure of one of Claims 23 to 26 or the computer program product Claim 27 to implement. Vehicle comprising a system according to one of Claims 1 to 19 , a control device according to one of Claims 20 to 22 , a computer program product Claim 27 , a non-volatile computer-readable medium Claim 28 or a processor after Claim 29 ,

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