EP4739566A2

EP4739566A2 - Vehicle trajectory control system and method

Info

Publication number: EP4739566A2
Application number: EP24740835.4A
Authority: EP
Inventors: Jure VRHUNC; Mark Dawson; Tharnjit ATWAL; John Dunn; Robbie LESBIREL; Rebecca Matthias; Rebecca SAUNDERS; Gustavo JARAMILLO-MOSCOSO
Original assignee: Jaguar Land Rover Ltd
Current assignee: Jaguar Land Rover Ltd
Priority date: 2023-07-05
Filing date: 2024-07-04
Publication date: 2026-05-13
Also published as: GB202310274D0; WO2025008487A3; GB2631686B; GB2631686A; WO2025008487A2

Abstract

A control system (10) for controlling the trajectory of a vehicle (300), the control system (10) comprising one or more controller (12), the control system (10) being configured to: receive an operator control input, the operator control input comprising a signal indicative of an input to a steering input interface (14); determine, in dependence on the operator control input, an intent of an operator to adjust a trajectory of the vehicle (300); select, in dependence on the determined intent of the operator, a vehicle trajectory adjustment system (20) from a plurality of available vehicle trajectory adjustment systems (20-2), (20-2), (20-3), (20-4), (20-5), (20-6); determine, in dependence on the selected vehicle trajectory adjustment system (20), a vehicle control signal to operate the selected vehicle trajectory adjustment system (20) so as to cause the vehicle (300) to follow an adjusted vehicle trajectory; and output the vehicle control signal to operate the selected vehicle trajectory adjustment system (20) to cause the vehicle (300) to follow the adjusted vehicle trajectory.

Description

VEHICLE TRAJECTORY CONTROL SYSTEM AND METHOD

TECHNICAL FIELD

The present disclosure relates to a vehicle trajectory control system and method. Aspects of the invention relate to a control system, to a system, to a vehicle, and to a method.

BACKGROUND

It is known to provide vehicle trajectory control systems having a steering wheel which is mechanically linked to a steering rack and the road wheels of the vehicle, such that the angular position of the steering wheel directly translates into an angular position of the road wheels. Therefore, for any given steering wheel angle, the vehicle would drive along a circular path defined by the geometry of the vehicle including the wheelbase of the vehicle and the road wheel angle associated with the steering wheel angle, in a repeatable manner, assuming driving conditions, such as road surface friction, do not change. It is also known to provide steer-by wire systems, where the steering wheel is not mechanically linked to the steering rack and the road wheels of the vehicle, that mimic the behaviour of a mechanical coupling between the steering wheel and the road wheels of the vehicle.

It is an aim of the present invention to address one or more of the disadvantages associated with the prior art.

SUMMARY OF THE INVENTION

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

According to an aspect of the present invention there is provided a control system for controlling the trajectory of a vehicle, the control system comprising one or more controller, the control system being configured to: receive an operator control input, the operator control input comprising a signal indicative of an input to a steering input interface; determine, in dependence on the operator control input, an intent of an operator to adjust a trajectory of the vehicle; select, in dependence on the determined intent of the operator, a vehicle trajectory adjustment system from a plurality of available vehicle trajectory adjustment systems; determine, in dependence on the selected vehicle trajectory adjustment system, a vehicle control signal to operate the selected vehicle trajectory adjustment system so as to cause the vehicle to follow an adjusted vehicle trajectory; and output the vehicle control signal to operate the selected vehicle trajectory adjustment system to cause the vehicle to follow the adjusted vehicle trajectory.

An advantage of the invention is that the intent of an operator to adjust a trajectory of the vehicle can be fulfilled by the selection of a trajectory adjustment system from a plurality of available vehicle trajectory adjustment systems, thereby providing for flexibility of control over a vehicle trajectory when compared to systems where the trajectory of the vehicle is controlled through a direct translation of the position of a steering input interface to a steering system of the vehicle.

The control system comprises one or more controllers collectively comprising at least one electronic processor having an electrical input for receiving an input signal; and at least one memory device electrically coupled to the at least one electronic processor and having instructions stored therein; and wherein the at least one electronic processor is configured to access the at least one memory device and execute the instructions thereon so as to: receive an operator control input, the operator control input comprising a signal indicative of an input to a steering input interface; determine, in dependence on the operator control input, an intent of the operator to adjust a trajectory of the vehicle; select, in dependence on the determined intent of the operator, a vehicle trajectory adjustment system from a plurality of available vehicle trajectory adjustment systems; determine, in dependence on the selected vehicle trajectory adjustment system, a vehicle control signal to operate the selected vehicle trajectory adjustment system so as to cause the vehicle to follow an adjusted vehicle trajectory; and output the vehicle control signal to operate the selected vehicle trajectory adjustment system to cause the vehicle to follow the adjusted vehicle trajectory.

The signal indicative of an input to a steering input interface may be independent of a signal indicative of a steering input interface position.

The operator control input may be provided by one of a human driver or an autonomous driver system.

The plurality of available vehicle trajectory adjustment systems may comprise two or more of: a steering system; a braking system; a suspension system; a traction control system; an active aerodynamic control system; a motive torque delivery system.

The steering system may comprise one or more of: a front wheel steering system; a rear wheel steering system; an all-wheel steering system.

The signal indicative of an input to a steering input interface may comprise a signal indicative of a rate of change of the steering input interface position.

The operator control input may comprise a signal indicative of a steering input interface position.

The operator control input may comprise a signal indicative of an accelerator control position.

The operator control input may comprise a signal indicative of a rate of change of an accelerator control position.

The operator control input may comprise a signal indicative of a decelerator control position.

The operator control input may comprise a signal indicative of the rate of change of a decelerator control position.

The operator control input may comprise a signal indicative of a driving mode of the vehicle.

The intent of the operator to adjust a trajectory of the vehicle may be further determined in dependence on a vehicle speed input.

A predicted trajectory of the vehicle may be determined from the operator control input.

The adjusted vehicle trajectory may be of the form of a mathematical function. The mathematical function may be a clothoid. The vehicle performance may be limited when it is determined that the selected vehicle trajectory adjustment system is not capable of operating to cause the vehicle to follow the adjusted vehicle trajectory.

The vehicle may be caused to decelerate when it is determined that the selected vehicle trajectory adjustment system is not capable of operating to cause the vehicle to follow the adjusted vehicle trajectory.

The control system may be configured to provide feedback to an operator of the vehicle that the adjusted vehicle trajectory cannot be followed.

The feedback to the operator may comprise one or more of physical feedback, audible warnings and visual warnings.

The operator control input may be provided by a human driver, the operator control input may be determined via sensors operably coupled to the steering input interface, or by analysis of the motion of the steering input interface, or the human driver operating the steering input interface, detected via a camera.

According to an aspect of the present invention there is provided a system comprising a control system of any preceding aspect and a plurality of vehicle trajectory adjustment systems.

According to an aspect of the present invention there is provided a vehicle comprising the system or control system of any preceding aspect.

According to an aspect of the present invention there is provided a method for controlling a control system of a vehicle, the method comprising: receiving an operator control input, the operator control input comprising a signal indicative of an input to a steering input interface; determining, in dependence on the operator control input, an intent of the operator to adjust a trajectory of the vehicle; selecting, in dependence on the determined intent of the operator, a vehicle trajectory adjustment system from a plurality of available vehicle trajectory adjustment systems; determining, in dependence on the selected vehicle trajectory adjustment system, a vehicle control signal to operate the selected vehicle trajectory adjustment system so as to cause the vehicle to follow an adjusted vehicle trajectory; and outputting the vehicle control signal to operate the selected vehicle trajectory adjustment system to cause the vehicle to follow the adjusted vehicle trajectory.

According to an aspect of the invention, there is provided computer readable instructions that, when executed by a computer, are arranged to perform the method of the above aspect.

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 block diagram incorporating a control system and a system according to embodiments of the invention;

Figure 2 shows a flow chart showing a method according to embodiments of the invention; and

Figure 3 shows a vehicle in accordance with an embodiment of the invention.

DETAILED DESCRIPTION

A control system 10 in accordance with an embodiment of the present invention is described herein with reference to the accompanying Figure 1. As shown in Figure 3, the control system 10, and a system 100 in which the control system 10 operates, may be installed in a vehicle 300.

With reference to Figure 1, there is illustrated a control system 10 for a vehicle 300. The control system 10 comprises one or more controller 12.

The control system 10 is configured to receive operator control input from a steering input interface 14 and determine an intent of an operator to adjust a trajectory, or intended path, of the vehicle 300. The control system 10 may then output a vehicle control signal to control a selected vehicle trajectory adjustment system 20. A system 100 may therefore be provided which comprises a control system 10 and a plurality of vehicle trajectory adjustment systems.

The control system 10 as illustrated in Figure 1 comprises one controller 12, although it will be appreciated that this is merely illustrative. The controller 12 comprises processing means 122 and memory means 124. The processing means 122 may be one or more electronic processing device 122, such as a processor or processing circuitry, which operably executes computer-readable instructions. The memory means 124 may be one or more memory device 124, such as a memory or memory circuitry. The memory means 124 is electrically coupled to the processing means 122. The memory means 124 is configured to store instructions, and the processing means 122 is configured to access the memory means 124 and execute the instructions stored thereon.

The controller 12 comprises an input means 140, for example in the form of input or receiver circuitry, and an output means 150, for example in the form of output or transmitter circuitry. The input means 140 may comprise an electrical input 140 of the controller 12. The output means 150 may comprise an electrical output 150 of the controller 12. The input 140 is arranged to receive an operator control input. The operator control input comprises a signal, the signal being an electrical signal which is indicative of an input to a steering input interface 14. The output 150 is arranged to output a vehicle control signal for controlling a vehicle trajectory adjustment system 20, or a plurality of vehicle trajectory adjustment systems.

Figure 3 illustrates a vehicle 300 according to an embodiment of the present invention. The vehicle 300 comprises a control system 10 as illustrated in Figure 1. Figure 2 illustrates a method 200 according to an embodiment of the invention. The method 200 is a method of controlling a control system 10. In particular, the method 200 is a method of controlling a control system 10 of a vehicle 300, such as the vehicle 300 illustrated in Figure 3, for the purpose of adjusting a trajectory of the vehicle 300, for example by controlling the lateral motion of the vehicle 300 including the yaw of the vehicle 300 and lateral translation of the vehicle 300. The method 200 may be performed by the control system 10 illustrated in Figure 1. In particular, the memory 124 may comprise computer-readable instructions which, when executed by the processor 122, perform the method 200 according to an embodiment of the invention.

Figure 1 illustrates a system 100 comprising a control system 10 for controlling the trajectory of a vehicle 300. The control system 10 illustrated in Figure 1 comprises a single controller 12, though it will be understood that the control system 10 may, in other embodiments, comprise more than one controller, which controllers may perform different operations for the control of the trajectory of the vehicle 300.

The control system 10 is arranged or configured to receive an operator control input. The operator may be, in some embodiments, a human operator of the vehicle 300 or, in other embodiments, an autonomous driving system, or autonomous driver system, integral with, or associated with, the vehicle 300. The operator control input comprises a signal indicative of an input to a steering input interface 14.

The operator control input may be, for example, provided by a human driver. The operator control input may be determined via sensors operably coupled to the steering input interface to determine the motion of the steering input interface. The operator control input may be determined by analysis of the motion of the steering input interface, or the human driver operating the steering input interface, detected via a camera or a plurality of cameras within the vehicle 300.

The signal indicative of an input to a steering input interface 14 may be independent of a signal indicative of a positional parameter relating to the steering input interface 14. That is, the signal is separate to any signal relating to the position of the steering input interface 14.

For example, when the steering input interface 14 is an interface in the vehicle 300 to which a human operator of the vehicle 300 or an autonomous driving system of the vehicle 300 can provide a positional steering input, then the signal indicative of an input to that interface is independent of the position of the interface itself. In embodiments in which the steering input interface 14 is a steering wheel, joystick, or other physical vehicle control, by which a human operator or an autonomous driving system can provide a steering input, the position of the interface does not affect the signal indicative of an input to that interface.

The signal indicative of an input to the steering input interface 14 may comprise a signal which relates to an input parameter for the steering input interface 14. For example, the signal may be indicative of a rate of change of the position of the steering input interface 14. A higher rate of change indicates a quicker acceleration of the steering input interface which may be indicative of an intention of the operator to change the vehicle trajectory in a more aggressive manner. Alternatively, or in addition, the speed of the steering input interface 14 may be transmitted or relayed in the signal to the control system 10. Alternatively, or in addition, a torque input into the steering input interface 14 may be determined and transmitted or relayed in the signal to the control system 10. A frequency analysis of the steering input interface 14 may be carried out to determine one or more of these parameters to be transmitted or relayed in the signal to the control system 10. In addition to the operator control input comprising a signal indicative of an input to the steering input interface 14, which may be identified as a steering input interface input signal, the operator control input may further comprise a signal indicative of a position of the steering input interface 14, which may be identified as a steering input interface position signal. The steering input interface position may be defined by an angle of the steering input interface 14 from a centre location. In this way, the operator control input may comprise both a signal indicative of an input to a steering input interface which is independent of the steering input interface position, thorough for example a frequency analysis of the motion of the steering input interface 14, and a signal indicative of a steering input interface position.

Additional data may be provided to the control system 10, via further operator control input, regarding the operation of the vehicle 300. The operator control input may, for example, comprise a signal indicative of the operation of an accelerator control and/or a signal indicative of the operation of a deceleration control. The operator control input may comprise a signal indicative of a position of the accelerator control and/or a rate of change of an accelerator control position, respectively an accelerator control position signal and an accelerator control rate of change signal. The operator control input may comprise a signal indicative of a position of the decelerator control and/or a rate of change of a decelerator control position, respectively a decelerator control position signal and a decelerator control rate of change signal. In embodiments where the operator is a human operative of the vehicle 300, the accelerator control may be an accelerator pedal of the vehicle 300 and the decelerator control may be a brake pedal of the vehicle 300, each of which may be operated by the human operative to effect changes in the fore-aft domain of the vehicle 300 to affect the trajectory of the vehicle 300.

In some embodiments, the operator control input may comprise a signal indicative of a driving mode of the vehicle. Driving modes may affect elements of the vehicle 300 such as suspension stiffness and travel, traction control, and motive torque provision. A driving mode can be selected by the operator via a driving mode selector 30.

Once the control system 10 has received the operator control input, which may be a combination of various inputs as described above, the control system 10 is arranged or configured to determine, in dependence on the operator control input, an intent of the operator to adjust a trajectory or intended path of the vehicle 300. The control system 10 may also be arranged or configured to determine in what attitude, oversteer or understeer, the operator requires the vehicle 300 to progress in. The determination of attitude, oversteer or understeer, may be in dependence on inertial information of the vehicle that is received or determined.

The intent of the operator to adjust a trajectory of the vehicle 300 may be further determined in dependence on a vehicle speed input. The vehicle speed input, derived from vehicle speed measurements from one or more sensors on the vehicle 300, may affect the determined intent of the operator to adjust a trajectory of the vehicle 300. For example at low speed, such as in a parking lot, a small steering angle could be determined to require a larger road wheel movement than the same steering angle would be required to effect at high speed, such as on a motorway or freeway.

A predicted trajectory of the vehicle 300 may therefore be determined from the operator control input and optionally a vehicle speed input. The adjusted vehicle trajectory may be of the form of a mathematical function. The mathematical function may be, for example, a clothoid. A clothoid function can be used to provide a prediction of future lateral motion of the vehicle 300.

Once the intent of the operator to adjust a trajectory of the vehicle 300 has been determined, the control system 10 is arranged or configured to select, in dependence on the determined intent of the operator, a vehicle trajectory adjustment system 20, or a plurality of vehicle trajectory adjustment systems from a plurality of available vehicle trajectory adjustment systems 20-1 , 20-2, 20-3, 20-4, 20- 5, 20-6. The plurality of available vehicle trajectory adjustment systems 20-1, 20-2, 20-3, 20-4, 20-5, 20-6 may comprise two or more of: a steering system 20-1; a braking system 20-2; a suspension system 20-3; a traction control system 20-4; an active aerodynamic control system 20-5; a motive torque delivery system 20-6. The steering system 20-1 may comprise one or more of: a front wheel steering system; a rear wheel steering system; an all-wheel steering system. The control system 10 can select at least one of these vehicle trajectory adjustment systems 20-1 , 20-2, 20-3, 20-4, 20-5, 20-6 in order to convey control to the vehicle 300 in order to follow the determined intent of the operator. Optionally, a feedback loop is introduced between the vehicle trajectory adjustment systems 20- 1, 20-2, 20-3, 20-4, 20-5, 20-6 and the control system 10.

The vehicle trajectory adjustment systems 20-1, 20-2, 20-3, 20-4, 20-5, 20-6, which are operable to provide changes to the vehicle trajectory, comprise various vehicle actuators, such as actuators configured to cause a change in the direction of the road wheels of the steering system 20-1, cause increased or decreased braking of the braking system 20-2, operate active suspension components of the suspension system 20-3, operate components of a traction control system 20-4; operate active aerodynamic components of the aerodynamic control system 20-5; and increase or decrease torque delivery via the motive torque delivery system 20-6. The control system 10 arbitrates between the various vehicle actuators to decide on how to synchronise the operation of the various actuators to achieve the best response to the determined intent of the operator to adjust the trajectory of the vehicle 300. For example, braking and torque delivery to each wheel of the vehicle 300 can be adjusted to provide torque vectoring in order to assist in the following of the determined intent of the operator to follow an adjusted vehicle trajectory.

In dependence on the selected vehicle trajectory adjustment system or systems, a vehicle control signal may be determined. The vehicle control signal is configured to operate the selected vehicle trajectory adjustment system 20 or systems so as to cause the vehicle 300 to follow an adjusted vehicle trajectory, or to assist to cause the vehicle 300 to follow an adjusted vehicle trajectory.

The vehicle control signal may then be output to operate the selected vehicle trajectory adjustment system 20 or systems to cause the vehicle 300 to follow the adjusted vehicle trajectory, or to assist to cause the vehicle 300 to follow an adjusted vehicle trajectory.

In some circumstances, the control system 10 may determine that the adjusted vehicle trajectory determined from the operator control input is outside of the capabilities of the vehicle 300, that is, the various vehicle trajectory adjustment systems cannot be operated in a way to meet the adjusted vehicle trajectory without exceeding the limitations of one or more of the various vehicle trajectory adjustment systems. The limitations of the various vehicle trajectory adjustment systems may include instantaneous and continued functional actuator limits. The vehicle performance may be limited when it is determined that the selected vehicle trajectory adjustment system 20, or the plurality of selected vehicle trajectory adjustment systems, is not capable of operating to cause the vehicle 300 to follow the adjusted vehicle trajectory. Further limitations on the capability of the vehicle 300 may be introduced by the limit of adhesion on the surface over which the vehicle is travelling. Put another way, the grip level of the surface that the vehicle 300 is travelling over will vary, and the limit of adhesion of the surface may cause the adjusted vehicle trajectory determined from the operator control input to be outside of the capabilities of the vehicle 300. In a scenario where the vehicle is travelling over a surface with a low level of adhesion, the adjusted vehicle trajectory may be further adjusted to give a post adhesion limit vehicle trajectory. The post adhesion limit vehicle trajectory is determined in dependence on the determined or received level of adhesion (or grip level) of the surface over which the vehicle 300 is travelling. Performance can be limited in the least intrusive way to the driver to ensure maintenance of the best driving experience for the user of the vehicle 300. For example, the vehicle 300 may be caused to decelerate when it is determined that the selected vehicle trajectory adjustment system 20, or the plurality of selected vehicle trajectory adjustment systems, is not capable of operating to cause the vehicle 300 to follow the adjusted vehicle trajectory. In this way, the intended vehicle trajectory required by the operator may still be followed, but with a decreased vehicle speed.

In instances when the selected vehicle trajectory adjustment system 20, or the plurality of selected vehicle trajectory adjustment systems, is not capable of operating to cause the vehicle 300 to follow the adjusted vehicle trajectory, the control system 10 may be configured to provide feedback to an operator of the vehicle 300 that the adjusted vehicle trajectory cannot be followed. The feedback to the operator may be provided via feedback circuitry 40 connected to various elements of the vehicle 300. The feedback may comprise physical feedback such as a vibration of the steering input interface 14, and/or increased torque in the steering input interface 14 to provide an indication that the intent of the operator is not feasible. Alternatively, or additionally, other feedback may be provided to the operator, such as audible warnings and visual warnings, provided through the audio and visual capabilities of the vehicle 300, which may be particularly useful to a human operator of the vehicle 300 in alerting them to the limitations of the current requested vehicle manoeuvre.

Figure 2 illustrates a flow chart of the blocks of a method 200 for the control of the control system 10. In particular, the method is for controlling a control system of a vehicle 300.

The method 200 for the control of a control system in a vehicle 300 begins at block 202, where the control system receives an operator control input, the operator control input comprising a signal indicative of an input to a steering input interface.

At block 204 an intent of the operator to adjust a trajectory of the vehicle is determined, in dependence on the operator control input.

At block 206 a vehicle trajectory adjustment system is selected from a plurality of available vehicle trajectory adjustment systems, in dependence on the determined intent of the operator. Optionally, an appropriate vehicle motion response is determined in dependence on the determined intent of the operator.

At block 208 a vehicle control signal to operate the selected vehicle trajectory adjustment system so as to cause the vehicle to follow an adjusted vehicle trajectory is determined, in dependence on the selected vehicle trajectory adjustment system.

At block 210 the vehicle control signal is output to operate the selected vehicle trajectory adjustment system to cause the vehicle to follow the adjusted vehicle trajectory.

The memory 124 stores a computer program comprising computer readable instructions (computer program code) for carrying out the above-described method. The computer readable instructions may output information or control one or more vehicle functions when loaded into the processor 122. The computer readable instructions 124, of the computer program, provide the logic and routines that enables the control system 10 to perform the methods illustrated in Figure 2 and/or described herein. The processor 122, by reading the memory 124, is able to load and execute the computer readable instructions. 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.

It will be appreciated that various changes and modifications can be made to the present invention without departing from the scope of the present application. For purposes of this disclosure, it is to be understood that reference to 'the control system being configured to’ is to be understood to mean 'the one or more controllers of the control system are collectively configured to’. The controller(s) described herein can each comprise a control unit or computational device having one or more electronic processors, the one or more processors collectively configured to perform the control system functionality set out in the control system claims.

The following aspects are also explicitly contemplated, as defined in the following Clauses:

Clause 1. A control system for controlling the trajectory of a vehicle, the control system comprising one or more controller, the control system being configured to: receive an operator control input, the operator control input comprising a signal indicative of an input to a steering input interface; determine, in dependence on the operator control input, an intent of an operator to adjust a trajectory of the vehicle; select, in dependence on the determined intent of the operator, a vehicle trajectory adjustment system from a plurality of available vehicle trajectory adjustment systems; determine, in dependence on the selected vehicle trajectory adjustment system, a vehicle control signal to operate the selected vehicle trajectory adjustment system so as to cause the vehicle to follow an adjusted vehicle trajectory; and output the vehicle control signal to operate the selected vehicle trajectory adjustment system to cause the vehicle to follow the adjusted vehicle trajectory.

Clause 2. A control system according to Clause 1, wherein the signal indicative of an input to a steering input interface is independent of a signal indicative of a steering input interface position.

Clause 3. A control system according to Clause 1 or Clause 2, wherein the operator control input is provided by one of a human driver or an autonomous driver system.

Clause 4. A control system according to any preceding Clause, wherein the plurality of available vehicle trajectory adjustment systems comprises two or more of: steering system; a braking system; a suspension system; a traction control system; an active aerodynamic control system; a motive torque delivery system. Clause 5. A control system according to Clause 4, wherein the steering system comprises one or more of: a front wheel steering system; a rear wheel steering system; an all wheel steering system.

Clause 6. A control system according to any preceding Clause, wherein the signal indicative of an input to a steering input interface comprises a signal indicative of a rate of change of the steering input interface position.

Clause 7. A control system according to Clause 6, wherein the operator control input comprises a signal indicative of a steering input interface position.

Clause 8. A control system according to Clause 6 or Clause 7, wherein the operator control input comprises a signal indicative of an accelerator control position.

Clause 9. A control system according to any of Clauses 6 to 8, wherein the operator control input comprises a signal indicative of a rate of change of an accelerator control position.

Clause 10. A control system according to any of Clauses 6 to 9, wherein the operator control input comprises a signal indicative of a decelerator control position.

Clause 11. A control system according to any of Clauses 6 to 10, wherein the operator control input comprises a signal indicative of the rate of change of a decelerator control position.

Clause 12. A control system according to any of Clauses 6 to 11, wherein the operator control input comprises a signal indicative of a driving mode of the vehicle.

Clause 13. A control system according to any preceding Clause, wherein the intent of the operator to adjust a trajectory of the vehicle is further determined in dependence on a vehicle speed input.

Clause 14. A control system according to any preceding Clause, wherein a predicted trajectory of the vehicle is determined from the operator control input.

Clause 15. A control system according to any preceding Clause, wherein the adjusted vehicle trajectory is of the form of a mathematical function.

Clause 16. A control system according to Clause 15, wherein the mathematical function is a clothoid.

Clause 17. A control system according to any preceding Clause, wherein the vehicle performance is limited when it is determined that the selected vehicle trajectory adjustment system is not capable of operating to cause the vehicle to follow the adjusted vehicle trajectory. Clause 18. A control system according to Clause 17, wherein the vehicle is caused to decelerate when it is determined that the selected vehicle trajectory adjustment system is not capable of operating to cause the vehicle to follow the adjusted vehicle trajectory.

Clause 19. A control system according to Clause 17 or Clause 18, the control system being configured to: provide feedback to an operator of the vehicle that the adjusted vehicle trajectory cannot be followed.

Clause 20. A control system according to Clause 19, wherein the feedback to the operator comprises one or more of physical feedback, audible warnings and visual warnings.

Clause 21. A control system according to Clause 3, wherein, when the operator control input is provided by a human driver, the operator control input is determined by sensors operably coupled to the steering input interface, or by analysis of the motion of the steering input interface, or the human driver operating the steering input interface, detected via a camera.

Clause 22. A system comprising the control system of any preceding claim and a plurality of vehicle trajectory adjustment systems.

Clause 23. A vehicle comprising the system of Clause 22 or the control system of Clauses 1 to 21.

Clause 24. A method for controlling a control system of a vehicle, the method comprising: receiving an operator control input, the operator control input comprising a signal indicative of an input to a steering input interface; determining, in dependence on the operator control input, an intent of the operator to adjust a trajectory of the vehicle; selecting, in dependence on the determined intent of the operator, a vehicle trajectory adjustment system from a plurality of available vehicle trajectory adjustment systems; determining, in dependence on the selected vehicle trajectory adjustment system, a vehicle control signal to operate the selected vehicle trajectory adjustment system so as to cause the vehicle to follow an adjusted vehicle trajectory; and outputting the vehicle control signal to operate the selected vehicle trajectory adjustment system to cause the vehicle to follow the adjusted vehicle trajectory.

Clause 25. Computer readable instructions which, when executed by a computer, are arranged to perform a method according Clause 24.

Claims

1. A control system for controlling the trajectory of a vehicle, the control system comprising one or more controller, the control system being configured to: receive an operator control input, the operator control input comprising a signal indicative of an input to a steering input interface; determine, in dependence on the operator control input, an intent of an operator to adjust a trajectory of the vehicle; select, in dependence on the determined intent of the operator, a vehicle trajectory adjustment system from a plurality of available vehicle trajectory adjustment systems; determine, in dependence on the selected vehicle trajectory adjustment system, a vehicle control signal to operate the selected vehicle trajectory adjustment system so as to cause the vehicle to follow an adjusted vehicle trajectory; and output the vehicle control signal to operate the selected vehicle trajectory adjustment system to cause the vehicle to follow the adjusted vehicle trajectory.

2. A control system according to claim 1, wherein the signal indicative of an input to a steering input interface is independent of a signal indicative of a steering input interface position.

3. A control system according to claim 1 or claim 2, wherein the operator control input is provided by one of a human driver or an autonomous driver system.

4. A control system according to any preceding claim, wherein the plurality of available vehicle trajectory adjustment systems comprises two or more of: steering system; a braking system; a suspension system; a traction control system; an active aerodynamic control system; a motive torque delivery system.

5. A control system according to claim 4, wherein the steering system comprises one or more of: a front wheel steering system; a rear wheel steering system; an all wheel steering system.

6. A control system according to any preceding claim, wherein the signal indicative of an input to a steering input interface comprises a signal indicative of a rate of change of the steering input interface position, and optionally, wherein the operator control input comprises a signal indicative of one or more of: a steering input interface position; an accelerator control position; a rate of change of an accelerator control position; a decelerator control position; the rate of change of a decelerator control position; and a driving mode of the vehicle.

7. A control system according to any preceding claim, wherein the intent of the operator to adjust a trajectory of the vehicle is further determined in dependence on a vehicle speed input.

8. A control system according to any preceding claim, wherein a predicted trajectory of the vehicle is determined from the operator control input.

9. A control system according to any preceding claim, wherein the adjusted vehicle trajectory is of the form of a mathematical function, and optionally, wherein the mathematical function is a clothoid.

10. A control system according to any preceding claim, wherein the vehicle performance is limited when it is determined that the selected vehicle trajectory adjustment system is not capable of operating to cause the vehicle to follow the adjusted vehicle trajectory, and optionally, wherein the vehicle is caused to decelerate when it is determined that the selected vehicle trajectory adjustment system is not capable of operating to cause the vehicle to follow the adjusted vehicle trajectory.

11. A control system according to claim 10, the control system being configured to: provide feedback to an operator of the vehicle that the adjusted vehicle trajectory cannot be followed, and optionally, wherein the feedback to the operator comprises one or more of physical feedback, audible warnings and visual warnings.

12. A control system according to claim 3, wherein, when the operator control input is provided by a human driver, the operator control input is determined by sensors operably coupled to the steering input interface, or by analysis of the motion of the steering input interface, or the human driver operating the steering input interface, detected via a camera.

13. A vehicle comprising the control system of claims 1 to 12.

14. A method for controlling a control system of a vehicle, the method comprising: receiving an operator control input, the operator control input comprising a signal indicative of an input to a steering input interface; determining, in dependence on the operator control input, an intent of the operator to adjust a trajectory of the vehicle; selecting, in dependence on the determined intent of the operator, a vehicle trajectory adjustment system from a plurality of available vehicle trajectory adjustment systems; determining, in dependence on the selected vehicle trajectory adjustment system, a vehicle control signal to operate the selected vehicle trajectory adjustment system so as to cause the vehicle to follow an adjusted vehicle trajectory; and outputting the vehicle control signal to operate the selected vehicle trajectory adjustment system to cause the vehicle to follow the adjusted vehicle trajectory.

15. Computer readable instructions which, when executed by a computer, are arranged to perform a method according claim 14.