GB2565908B - Apparatus and method for infering vehicle entry location - Google Patents

Apparatus and method for infering vehicle entry location Download PDF

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Publication number
GB2565908B
GB2565908B GB1811124.5A GB201811124A GB2565908B GB 2565908 B GB2565908 B GB 2565908B GB 201811124 A GB201811124 A GB 201811124A GB 2565908 B GB2565908 B GB 2565908B
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United Kingdom
Prior art keywords
vehicle
detection
device carrier
sensor
entry
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GB2565908A (en
GB201811124D0 (en
Inventor
Ahmad Bashar
Langdon Patrick
Godsill Simon
Popham Thomas
Munoz Mauricio
Randall Jonathan
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Cambridge Enterprise Ltd
Jaguar Land Rover Ltd
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Cambridge Enterprise Ltd
Jaguar Land Rover Ltd
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Publication of GB201811124D0 publication Critical patent/GB201811124D0/en
Publication of GB2565908A publication Critical patent/GB2565908A/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
    • B60R25/20—Means to switch the anti-theft system on or off
    • B60R25/24—Means to switch the anti-theft system on or off using electronic identifiers containing a code not memorised by the user
    • B60R25/245—Means to switch the anti-theft system on or off using electronic identifiers containing a code not memorised by the user where the antenna reception area plays a role
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/037—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for occupant comfort, e.g. for automatic adjustment of appliances according to personal settings, e.g. seats, mirrors, steering wheel
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C9/00—Individual registration on entry or exit
    • G07C9/00174—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys
    • G07C9/00309—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys operated with bidirectional data transmission between data carrier and locks
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C9/00—Individual registration on entry or exit
    • G07C9/00174—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys
    • G07C9/00309—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys operated with bidirectional data transmission between data carrier and locks
    • G07C2009/00507—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys operated with bidirectional data transmission between data carrier and locks keyless data carrier having more than one function
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C2209/00—Indexing scheme relating to groups G07C9/00 - G07C9/38
    • G07C2209/60—Indexing scheme relating to groups G07C9/00174 - G07C9/00944
    • G07C2209/63—Comprising locating means for detecting the position of the data carrier, i.e. within the vehicle or within a certain distance from the vehicle

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)

Description

APPARATUS AND METHOD FOR INFERING VEHICLE ENTRY LOCATION
TECHNICAL FIELD
The present disclosure relates to an apparatus and method for inferring vehicle entry location. The invention may have particular application to road vehicles such cars, but this is not intended to be limiting. Aspects of the invention relate to an apparatus, a method, a computer programme, a computer readable medium, and a vehicle.
BACKGROUND
The facility to automatically identify a particular user entering a vehicle and further, the point of entry to the vehicle (and presumably therefore the vehicle zone that they occupy) offers several possible benefits.
By way of example, if a user and the vehicle zone in which they are located can be identified, the user interaction with vehicle systems and components whilst in the vehicle can be associated with that specific user and recorded. This in turn may allow the creation of a profile for that user in terms of preferences/requirements for the vehicle systems and components at least when occupying the particular vehicle zone. The preferences/ requirements could for example include seat position, infotainment preferences, temperature and vehicle dynamic settings etc.
By way of further example, if a user and the vehicle zone in which they are located can be identified, an existing profile in terms of the preferences/requirements of that user for the vehicle systems and components whilst in the particular vehicle zone can be applied automatically. Thus the vehicle and/or vehicle zone may be automatically prepared/adjusted for the specific user.
By way of further example, if a user and the vehicle zone in which they are located can be identified, data concerning the vehicle can be recorded and associated with the occupancy of the specific user in the specific vehicle zone. Thus, and by way of example, insurance telematics may be recorded and associated with a particular driver.
Previous proposed solutions to automatically identifying a vehicle user and their point of vehicle entry include using the GPS coordinates of a mobile phone of the user with a view to determining their location with respect to the vehicle. Nonetheless this and other similar mobile phone based systems tend to provide limited accuracy.
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 an apparatus, a method, a computer programme, a computer readable medium, and a vehicle as claimed in the appended claims.
According to an aspect of the invention there is provided an apparatus arranged to infer a side, left or right, of a vehicle from which a device carrier enters the vehicle, the apparatus comprising: one or more input means arranged to receive: i) one or more initiation parameters associated with the device and/or the vehicle indicative of whether the device carrier starts a vehicle entry procedure; and ii) one or more heading parameters indicative of the heading (yaw) of the device, one or more processing means arranged to determine a start time for the vehicle entry procedure in dependence on the received one or more initiation parameters, and to infer the side of the vehicle from which the device carrier entered the vehicle in dependence on the indicated yaw of the device corresponding to at least a part of a period, where the period is the time between the start time and an end time determined by the one or more processing means.
The one or more processing means may comprise one or more electronic processors and the one or more input means may comprise one or more electrical inputs to the one or more electronic processors.
Monitoring based on heading (which might also be considered to be yaw) may allow determination of the side of vehicle entry because entry from the left side of the vehicle tends to be accompanied by a device carrier anti-clockwise turn and entry from the right side of the vehicle tends to be accompanied by a device carrier clockwise turn. Furthermore monitoring based on heading with reference to a global coordinate system (rather than for instance monitoring roll and pitch) may allow for accurate entry side inference regardless of device location about the device carriers person (e.g. upper body pocket, lower body pocket, hand, bag etc). Specifically the quality of the inference may not be affected by the position and orientation of the device and the orientation of the vehicle. Knowledge of the side of entry may for example allow configuration of a particular vehicle space (e.g. driver or passenger seat and/or zone) for a user and/or for a particular user associated with the device.
In some embodiments the apparatus comprises one or more input means arranged to receive one or more termination parameters associated with the device and/or the vehicle indicative of whether the device carrier has completed the vehicle entry procedure and where further the one or more processing means determines the end time for the vehicle entry procedure in dependence on the received one or more termination parameters.
In some embodiments the one or more termination parameters comprise one or more of the following detected after the start time: i) detection of device carrier movements consistent with the device carrier performing a sitting action; ii) detection by a sensor associated with a vehicle seat of the vehicle of a signal consistent with a device carrier sitting on the seat; iii) detection by a sensor of the vehicle of vehicle suspension travel consistent with a device carrier sitting in the vehicle; iv) detection by a sensor of the vehicle that a door of the vehicle has been closed.
In some embodiments the apparatus comprises an output means and wherein the one or more processing means are arranged to output via the output means an indication of the inferred side of the vehicle from which the device carrier entered the vehicle.
The output means may comprise an electrical output from the electronic processor.
In some embodiments the one or more processing means infer the side of the vehicle at least in part in dependence on whether the indicated yaw of the device indicates that the device carrier turns clockwise or anti-clockwise during a part or all of the period. Specifically it may be assumed that to enter on the left side of the vehicle the carrier must rotate anti-clockwise and to enter on the right side of the vehicle the carrier must rotate clockwise.
In some embodiments the one or more processing means are arranged to determine a gradient of heading (yaw) angle occurring during a part or all of the period and infer the side of the vehicle at least in part in dependence on whether the gradient indicates that the device carrier turns clockwise or anti-clockwise in the relevant period. By using gradient of the heading angle rather than an absolute change in heading angle, the accuracy of the inference made by the apparatus may be made more tolerant of inaccuracies in the heading angle estimation as well as independent of the device position and vehicle orientation and/or position. As will be appreciated, gradient of heading angle may alternatively be referred to as gradient of yaw angle.
In some the input means is configured to receive the one or more heading parameters from a sensing means of the device.
The sensing means may comprise one or more of: an accelerometer a gyroscope and a magnetometer. Such sensors are already typically provided in devices such as mobile phones. Using such sensing means may mean that there is no need to provide another specific device for heading monitoring. Data generated from one, some or all of these sensors may be used to generate the one or more heading angles.
In some embodiments the one or more heading parameters are generated relative to a local coordinate system corresponding to the orientation of the device and the one or more processing means are arranged to perform a coordinate transformation to convert the one or more heading parameters such that calculated heading angles are relative to a global coordinate system. The global coordinate system may for example correspond to an x-axis tangential to the ground and pointing east, a y-axis tangential to the ground and pointing towards magnetic north and a z-axis that is perpendicular to the ground and points vertically upwards. Converting to a global coordinate system may be advantageous in terms of preventing the quality of the vehicle side inference being impacted by device position and/or orientation and/or vehicle position and/or orientation.
Calculating the heading angle and/or the coordinate transformation may entail fusing data from various sensor such as an accelerometer and/or gyroscope and/or magnetometer. This process may use statistical filtering such as Kalman filtering or quaternion techniques.
In some embodiments heading angles recorded over part or all of the period and relative to the global coordinate system are unwrapped by the one or more processing means. The unwrapping functionality may correct the estimated heading angle (in degrees or radians) by adding multiples of 360 degrees (for heading angle in degrees) or 2π radians (for heading angle in radians) when absolute jumps between consecutive values of the heading angle are greater than or equal to a jump tolerance, e.g., 180 degrees or π radians. This may allow discounting of erratic/unhelpful changes in heading angle.
In some embodiments a plot of heading angles recorded over part or all of the period and relative to the global coordinate system are smoothed by the one or more processing means. This may reduce the impact of rapid gradient fluctuations which may be considered noise. The smoothing may be performed with a moving average filter.
In some embodiments a part of the period used to infer the side of the vehicle is defined by the one or more processing means in accordance with a pre-determined time off-set applied to the start time and/or a predetermined time off-set applied to the end time. It may for instance be known that data received within a certain time of a start and or an end time determined in a particular manner may likely be of reduced value and/or counter-productive in assisting with vehicle side entry inference.
In some embodiments the part of the period used to infer the side of the vehicle is determined by the one or more processing means to start after the start time and/or before the end time. This may for instance be appropriate where the start and end times correspond to sensed vehicle door opening and closing events. Specifically it may be that device carrier rotation of most use in inferring vehicle entry side tends to occur only after a period beyond the door opening time. Similarly it may be that carrier rotation of most use in inferring vehicle entry side tends to occur only up to a time that precedes the door closing time.
In some embodiments the one or more processing means are arranged to: separate part or all of the period into segments; assess each segment separately in terms of heading (yaw) changes occurring during that segment; and infer the vehicle side in dependence on the assessment of all segments. The segments may be of equal size or may be of different sizes. In the latter case segments may be sized with a view to capturing particular expected stages of the vehicle entry procedure. It may be for example that the segments are arranged to capture different distinguishable macro-movements (which may be known from experimental data associated with a population or from data collected over time for a particular device carrier) typically associated with vehicle entry. Separation of the part or all of the period into segments may allow the separate assessment and weighting of movements occurring within those segments.
In some embodiments the one or more processing means calculate the average gradient of the heading angle occurring within each segment and determine a probability for right and a probability for left side vehicle entry in dependence on the average gradients for the segments. The one or more processing means may be arranged to infer left or right side vehicle entry in dependence on the probabilities. Alternatively the one or more processing means is arranged to infer left or right side vehicle entry or unknown entry side in dependence on the probabilities. In some embodiments the probabilities are calculated using a logistic function, but any other suitable classification technique from the machine learning literature can be analogously applied.
In some embodiments the one or more processing means are arranged to weight the significance of each of one or more of the segments differently when determining the probabilities. The weightings may be determined in accordance with the expected significance of movements expected to occur within the different time segments for inferring vehicle side. The weightings may be applied in accordance with historic trend data specific to a particular device carrier or in accordance with an average across a sample of device carriers. The weightings may be dynamically changed/learnt over time for the assessment of successive vehicle entry procedures (e.g. based on machine learning for a particular device carrier). In this case the segments may initially be given equal weighting as a starting default. Additionally or alternatively, segment weighting may be adjusted in real or near-real time in accordance with analysis of the specific heading data observed.
In some embodiments the one or more processing means is arranged to infer one or more of: left side vehicle entry where the probability for left side vehicle entry is greater than or equal to a pre-determined threshold, right side vehicle entry where the probability for right side vehicle entry is greater than or equal to a pre-determined threshold and a failure to infer a vehicle entry side arises where neither the probability of left nor the probability of right is greater than or equal to its respective pre- determined threshold.
In some embodiments the one or more initiation parameters comprise one or more of the following: i) detection by a sensor of the device of a signal broadcast by a transmitter of the vehicle, where such detection is indicative of a degree of proximity between the device and the vehicle; ii) detection by a sensor of the vehicle of a signal broadcast by a transmitter of the device, where such detection is indicative of a degree of proximity between the device and the vehicle iii) detection by a sensor of the vehicle of a signal broadcast by a transmitter of an apparatus other than the device, where such detection is indicative of a degree of proximity between the apparatus and the vehicle; iv) detection by a sensor of the vehicle that an attempt to open a door of the vehicle has been made; v) GPS data indicating that the device is within a particular distance of the vehicle; vi) detection an interruption to a walking pattern consistent with commencement of an entry procedure to the vehicle by the device carrier.
In the case of iii) the apparatus could for instance be a key fob, where the key fob is not the device itself. In the case of vi) the walking pattern may be monitored by a sensing means of the device. The sensing means may comprise one or more examples of an accelerometer and/or a gyroscope and/or a magnetometer. As will be appreciated the sensing means may be the same as any sensing means used to generate the one or more heading parameters indicative of the heading of the device. One or more parameters used to monitor the walking pattern may be generated by the sensing means relative to a local coordinate system corresponding to the orientation of the device. The one or more processing means may be arranged to perform a coordinate transformation to convert the one or more parameters used to monitor the walking pattern so as they are relative to a global coordinate system. The global coordinate system may for example correspond to an x-axis tangential to the ground and pointing east, a y-axis tangential to the ground and pointing towards magnetic north and a z-axis that is perpendicular to the ground and points up. This conversion may simplify the monitoring of movements associated with walking. Specifically it may facilitate monitoring accelerations in the z-direction (i.e. substantially perpendicular to the ground) only. Using only z-direction accelerations in monitoring a walking pattern may simplify a step-detection procedure.
In some embodiments the one or more termination parameters comprise one or more of the following detected after the start time: i) detection of device carrier movements consistent with the device carrier performing a sitting action; ii) detection by a sensor associated with a vehicle seat of the vehicle of a signal consistent with a device carrier sitting on the seat; iii) detection by a sensor of the vehicle of vehicle suspension travel consistent with a device carrier sitting in the vehicle; iv) detection by a sensor of the vehicle that a door of the vehicle has been closed.
In the case of i) the device carrier movements monitored in order to detect movements consistent with sitting may be monitored by a sensing means of the device. The sensing means may comprise one or more examples of an accelerometer and/or a gyroscope and/or a magnetometer. As will be appreciated the sensing means may be the same as any sensing means used to generate the one or more heading parameters indicative of the heading of the device and/or any sensing means used to monitor the walking pattern. One or more parameters used to monitor these movements may be generated by the sensing means relative to a local coordinate system corresponding to the orientation of the device. The one or more processing means may be arranged to perform a coordinate transformation to convert the one or more parameters used to monitor the movements so as they are relative to a global coordinate system. The global coordinate system may for example correspond to an x-axis tangential to the ground and pointing east, a y-axis tangential to the ground and pointing towards magnetic north and a z-axis that is perpendicular to the ground and points up. This conversion may simplify the monitoring of movements associated with a sitting action. In the case of ii) the sensor could for example be a weight sensor.
As will be appreciated alternative/additional termination parameters may be used, e.g. detection by the device that it is located within the vehicle and/or detection of one or more parts of a vehicle start procedure (optionally regardless of whether or not the vehicle is started) by a sensor of the vehicle and/or detection by a sensor of the vehicle of a vehicle occupant (e.g. proximity sensor or pressure on a seat of the vehicle).
In some embodiments the processing means is arranged to infer the side of the vehicle from which the device carrier entered the vehicle in dependence on one or more of: i) detection by a sensor of the device of a signal broadcast by a transmitter of the vehicle, where the signal is indicative of the side of the vehicle on which the device carrier is located; ii) detection by a sensor of the vehicle of a signal broadcast by a transmitter of the device, where the signal is indicative of the side of the vehicle on which the device carrier is located; iii) detection by a sensor of the vehicle of a signal broadcast by a transmitter of an apparatus other than the device, where the signal is indicative of the side of the vehicle on which the device carrier is located; iv) detection by a sensor of the vehicle that an attempt has been made to open a particular door or a door on a particular side of the vehicle; v) detection by a sensor of the vehicle that an attempt has been made to close a particular door or a door on a particular side of the vehicle; vi) GPS data indicative of the side of the vehicle towards which the device carrier has approached the vehicle and/or the side of the vehicle on which the device carrier is located; and vii) detection by a sensor of the vehicle of vehicle suspension travel consistent with a device carrier sitting in the vehicle on a particular side and/or in a particular location.
By way of example GPS data indicating a device carrier approach from a particular side of the vehicle may tend to corroborate or contradict an inference that might be made using one or more heading parameters alone. This may improve the accuracy of the inference.
In some embodiments the processing means is arranged to infer a forward to rearward location at which the device carrier entered the vehicle in dependence on one or more of: i) detection by a sensor of the device of a signal broadcast by a transmitter of the vehicle, where the signal is indicative of the location of the device carrier with respect to the vehicle; ii) detection by a sensor of the vehicle of a signal broadcast by a transmitter of the device, where the signal is indicative of the location of the device carrier with respect to the vehicle; iii) detection by a sensor of the vehicle of a signal broadcast by a transmitter of an apparatus other than the device, where the signal is indicative of the location of the device carrier with respect to the vehicle; iv) detection by a sensor of the vehicle that an attempt has been made to open a particular door of the vehicle; v) detection by a sensor of the vehicle that an attempt has been made to close a particular door of the vehicle; vi) GPS data indicative of a part of the vehicle towards which the device carrier has approached and/or the location of the device carrier with respect to the vehicle; and vii) detection by a sensor of the vehicle of vehicle suspension travel consistent with a device carrier sitting in the vehicle on a particular side and/or at a particular location.
By way of example, the side of entry to the vehicle may be inferred in accordance with the one or more heading parameters and front or rear door may be inferred in accordance with, for example, door opening and/or closing data and/or suspension travel. In this way it may for example be possible to infer not only the side of the vehicle where the vehicle entry procedure is performed but also whether the entry is to the front or back of the vehicle.
In some embodiments the processing means is arranged to infer a forward to rearward location at which the device carrier entered the vehicle in dependence on the temporal proximity of a device carrier action inferred and occurrence of a determined event. The device carrier action may be an action inferred in accordance with the device’s heading parameters. The determined event may be detected by a sensor of the vehicle. By way of example, the processing means might infer from the device’s heading parameters a stop-walking action occurring at a particular time, and may compare the temporal proximity of this action with the opening of a particular door of the vehicle. Such inference may be advantageous, particularly where forward and rearward doors are approached and entered by different user’s, at least one of whom is a device carrier in accordance with the present disclosure, over a relatively short period of time. Specifically, the detection of the opening of a first door of the vehicle nearer in time to a stop-walking action inferred for the device carrier than the opening of a second door on the same side of the vehicle, may be taken to infer that the device carrier has entered the vehicle via the first door.
The one or more processing means may determine probabilities for front and rear location entry and infers front or rear location entry or unknown forward to rearward entry location in dependence on the probabilities.
In some embodiments the one or more processing means is arranged to infer one or more of: forward location entry where the probability for forward location entry is greater than or equal to a pre-determined threshold, rearward location entry where the probability for rearward location entry is greater than or equal to a pre-determined threshold and a failure to infer forward or rearward location entry where neither the probability of forward nor the probability of rearward location entry is greater than or equal to its respective pre-determined threshold.
In some embodiments the apparatus comprises an input means arranged to receive a signal from the device identifying the specific device. In this way the vehicle may infer not only where the device carrier enters the vehicle but also the identity of the device carrier performing the vehicle entry procedure.
The input means arranged to receive the signal from the device identifying the specific device may comprise, without limitation, a wireless input means such as a mobile telecommunications (GSM) receiver I transceiver, a Bluetooth® receiver I transceiver or a Wi-Fi receiver I transceiver.
In some embodiments the vehicle is a specific predetermined vehicle. The vehicle may for example be owned or have been used before by the specific device carrier.
In some embodiments the apparatus is arranged to output a signal for adapting one or more vehicle systems in dependence on the inferred entry side of the device carrier.
In some embodiments the adaptation is performed in accordance with a predetermined profile for the device. The profile may for example correspond to preferences and/or settings for the owner/user of the device. This may be convenient for the device carrier and/or improve the safety and/or comfort etc of the device carrier.
In some embodiments the device is a portable device. The device may for example be a mobile phone, a key or key fob for the vehicle or otherwise, or a dedicated device worn or otherwise transported by the device carrier.
In some embodiments the vehicle is a land vehicle such as a road vehicle and may in particular be a motorised vehicle.
In some embodiments the apparatus comprises the device.
In some embodiments the apparatus comprises, or consists of, the vehicle.
In some embodiments the apparatus is comprised of a combination of the device and one or more vehicle components. In this case the one or more input means and the one or more processing means may be distributed between the device and the vehicle.
In some embodiments the apparatus comprises a vehicle controller. For example, the apparatus may comprise an electronic control unit, ECU, of the vehicle.
In some embodiments the one or more input means each comprise an electrical input for receiving signals indicative of the respective one or more parameters and the one or more processing means each comprise an electronic processor.
According to another aspect of the invention, there is provided a vehicle comprising an apparatus according to the foregoing aspect of the invention.
According to a yet another aspect of the invention there is provided a method for inferring the side, left or right, of a vehicle from which a device carrier enters the vehicle, the method comprising: receiving one or more initiation parameters associated with the device and/or the vehicle indicative of whether the device carrier starts a vehicle entry procedure, and one or more heading parameters indicative of the heading (yaw) of the device, determining a start time for the vehicle entry procedure in dependence on the one or more initiation parameters received and an end time for the vehicle entry procedure, and inferring the side of the vehicle from which the device carrier entered the vehicle in dependence on the indicated yaw of the device corresponding to at least part of a period where the period is the time between the start and end times.
In some embodiments the method comprises receiving one or more termination parameters associated with the device and/or the vehicle indicative of whether the device carrier has completed the vehicle entry procedure and determining the end time in dependence on the received one or more termination parameters.
In some embodiments the method comprises outputting an indication of the inferred side of the vehicle from which the device carrier entered the vehicle.
In some embodiments the inference of the side of the vehicle is made at least in part in dependence on whether the indicated yaw of the device indicates that the device carrier turns clockwise or anti-clockwise during a part or all of the period between the start and end times.
In some embodiments the method comprises determining a gradient of heading (yaw) angle occurring during a part or all of the period and inferring the side of the vehicle at least in part in dependence on whether the gradient indicates that the device carrier turns clockwise or anti-clockwise in the relevant period.
In some embodiments the one or more heading parameters are generated relative to a local coordinate system corresponding to the orientation of the device and the method comprises performing a coordinate transformation to convert the one or more heading parameters such that calculated heading angles are relative to a global coordinate system.
In some embodiments heading angles recorded over part or all of the period and relative to the global coordinate system are unwrapped.
In some embodiments heading angles recorded over part or all of the period and relative to the global coordinate system are smoothed.
In some embodiments a part of the period used to infer the side of the vehicle is defined in accordance with a pre-determined time off-set applied to the start time and/or a predetermined time off-set applied to the end time.
In some embodiments the part of the period used to infer the side of the vehicle is determined to start after the start time and/or before the end time.
In some embodiments part or all of the period is separated into segments, each segment is assessed separately in terms of heading (yaw) changes occurring during that segment and the vehicle side inference is made in dependence on the assessment of all segments.
In some embodiments the average gradient of the heading angle occurring within each segment is calculated and a probability for right and a probability for left side vehicle entry in dependence on the average gradients for the segments is determined.
In some embodiments the significance of each of one or more of the segments is weighted differently when determining the probabilities.
In some embodiments the left side vehicle entry is inferred where the probability for left side vehicle entry is greater than or equal to a pre-determined threshold, right side vehicle entry is inferred where the probability for right side vehicle entry is greater than or equal to a predetermined threshold and a failure to infer a vehicle entry side arises where neither the probability of left nor the probability of right is greater than or equal to its respective predetermined threshold.
In some embodiments the one or more initiation parameters comprise one or more of the following: i) detection of a signal indicative of a degree of proximity between the device and the vehicle; ii) detection that an attempt to open a door of the vehicle has been made; iii) detection of an interruption to a walking pattern consistent with commencement of an entry procedure to the vehicle by the device carrier.
In some embodiments the one or more termination parameters comprise one or more of the following detected after the start time: i) detection of device carrier movements consistent with the device carrier performing a sitting action; ii) detection of a signal consistent with a device carrier sitting on the seat; iii) detection of vehicle suspension travel consistent with a device carrier sitting in the vehicle; iv) detection that a door of the vehicle has been closed.
In some embodiments the side of the vehicle from which the device carrier entered the vehicle is inferred in dependence on one or more of: i) detection of a signal broadcast by the vehicle, where the signal is indicative of the side of the vehicle on which the device carrier is located; ii) detection of a signal broadcast by the device, where the signal is indicative of the side of the vehicle on which the device carrier is located; iii) detection of a signal broadcast by an apparatus other than the device, where the signal is indicative of the side of the vehicle on which the device carrier is located; iv) detection that an attempt has been made to open a particular door or a door on a particular side of the vehicle; v) detection that an attempt has been made to close a particular door or a door on a particular side of the vehicle; vi) GPS data indicative of the side of the vehicle towards which the device carrier has approached the vehicle and/or the side of the vehicle on which the device carrier is located; and vii) detection of vehicle suspension travel consistent with a device carrier sitting in the vehicle on a particular side and/or in a particular location.
In some embodiments a forward to rearward location at which the device carrier entered the vehicle is inferred in dependence on one or more of: i) detection of a signal broadcast by the vehicle, where the signal is indicative of the location of the device carrier with respect to the vehicle; ii) detection of a signal broadcast by the device, where the signal is indicative of the location of the device carrier with respect to the vehicle; iii) detection of a signal broadcast by an apparatus other than the device, where the signal is indicative of the location of the device carrier with respect to the vehicle; iv) detection that an attempt has been made to open a particular door of the vehicle; v) detection that an attempt has been made to close a particular door of the vehicle; vi) GPS data indicative of a part of the vehicle towards which the device carrier has approached and/or the location of the device carrier with respect to the vehicle; and vii) detection by a sensor of the vehicle of vehicle suspension travel consistent with a device carrier sitting in the vehicle on a particular side and/or at a particular location.
The method may comprise determining probabilities for front and rear location entry and inferring front or rear location entry or unknown forward to rearward entry location in dependence on the probabilities.
In some embodiments forward location entry is inferred where the probability for forward location entry is greater than or equal to a pre-determined threshold, rearward location entry is inferred where the probability for rearward location entry is greater than or equal to a predetermined threshold and a failure to infer forward or rearward location entry where neither the probability of forward nor the probability of rearward location entry is greater than or equal to its respective pre-determined threshold.
In some embodiments the method comprises receiving a signal from the device identifying the specific device.
In some embodiments the vehicle is a specific predetermined vehicle.
In some embodiments the method comprises adapting one or more vehicle systems in dependence on the inferred entry side of the device carrier.
In some embodiments the adaptation is performed in accordance with a predetermined profile for the device.
In some embodiments the method is performed by the device.
In some embodiments the method is performed by the vehicle.
In some embodiments the method is performed by a combination of the device and one or more vehicle components.
According to a further aspect of the invention there is provided a computer program that, when executed by a processor, causes performance of the method described above.
According to a still further aspect of the invention there is provided a non-transitory computer readable storage medium comprising computer readable instructions that, when executed by a processor, cause performance of the method described above. The non-transitory computer readable storage medium may be, for example, a USB flash drive, a secure digital (SD) card, an optical disc (such as a compact disc (CD), a digital versatile disc (DVD) or a Blu-ray disc).
According to a yet further aspect of the invention there is provided a signal comprising computer readable instructions that, when executed by a processor, cause performance of the method as described above.
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 top view of a vehicle overlaid with a map of possible vehicle entry locations in accordance with an embodiment of the invention;
Figure 2 shows a top view of a vehicle and a pair device carriers entering the vehicle from different sides in accordance with an embodiment of the invention;
Figure 3 shows a schematic view of an apparatus in accordance with an embodiment of the invention;
Figure 4 shows a flow diagram of a method for inferring the side, left or right, of a vehicle from which a device carrier enters the vehicle and example device carrier heading acceleration and heading data and vehicle door signal data at different times during the execution of the method in accordance with an embodiment of the invention;
Figure 5 shows example time segments into which part of a period between start and end times of a vehicle entry procedure may be divided and example heading angles collected within those segments in accordance with an embodiment of the invention;
Figure 6 shows an example graph of heading angle against time for a device carrier entering from a right side of a vehicle;
Figure 7 shows an example graph of heading angle against time for a device carrier entering from a left side of a vehicle;
Figure 8 shows a graph of example experimental data for device carriers entering from either the right (in this case the driver) or left (in this case a passenger) of the vehicle, the graph plotting one extracted feature against another taken from the entry procedure for the relevant device carrier; and
Figure 9 shows graphs of example heading angle data over time for two device carriers who perform vehicle entry procedures on the right side of a vehicle over time periods which partially overlap and a graph of door signal data over the corresponding period for the two doors on the right side of the vehicle.
DETAILED DESCRIPTION
Referring first to Figure 1, an example road vehicle 1 has four entry locations designed for entry of a vehicle user. On a left side 3 of the vehicle 1 are front passenger 5 and rear passenger nearside 7 entry locations and on a right side 9 of the vehicle 1 are driver 11 and rear passenger offside 13 entry locations. For the avoidance of doubt, references herein to ‘nearside’ and Offside’ assume that the example road vehicle is configured for left-hand traffic, however it will be readily appreciated that the invention is equally applicable to vehicles configured for right-hand traffic.
Should a particular user access the vehicle from a particular one of these locations 5, 7, 11, 13, this may infer that they will occupy a corresponding zone within the vehicle 1. If the identity and preferences/requirements of the user were also to be known, the relevant vehicle zone might be adapted to suit that particular user. By way of example the position of a seat in the zone might be automatically adjusted to suit that user. Additionally or alternatively, knowledge of the identity of the user and a zone which they occupy may allow data to be collected for a particular user in the context of their occupation of that particular zone. By way of example, preferences for that user when in that vehicle zone may be ascertained (and/or improved in accuracy) based on the user’s behaviour (e.g. adjustment of vehicle components and/or systems). By way of alternative example insurance informatics may be collected for the specific individual in the context of their occupation of a particular zone.
Referring now to figure 2, the vehicle 1 is again shown. A pair of vehicle users, hereinafter referred to as device carriers, are also shown: a first device carrier 22 beginning a vehicle entry procedure on the right side 9 of the vehicle 1 (which corresponds to the driver’s side) and a second device carrier 26 beginning a vehicle entry procedure on the left side 3 of the vehicle 1 (which corresponds to a passenger side). The device carriers 22, 26 each carry a device (not shown), in this case a mobile phone, about their person. Each mobile phone is assumed to be specific to the individual carrying it and that it therefore serves to uniquely identify the relevant device carrier. Thus if the vehicle entry location can be associated with a corresponding one of the mobile phones, the potential benefits previously mentioned may be realisable.
As foreshadowed by a clockwise arrow 28, it is expected that the sum of all global coordinate system heading angle changes of a device carrier (in this case the first device carrier 22) during performance of an entry procedure from the right side 9 of the vehicle 1 will correspond to a clockwise turn. Similarly, as foreshadowed by an anticlockwise arrow 30, it is expected that the sum of all heading changes of a device carrier (in this case the second device carrier 26) during performance of an entry procedure from the left side 3 of the vehicle 1 will correspond to an anticlockwise turn.
Referring now to Figure 3 an apparatus is generally shown at 30. In the embodiments shown the apparatus 30 comprises components of the vehicle 1 and the device (in this case a mobile phone), shown in Figure 3 at 32 of the first device carrier 22. As will be appreciated description with respect to the device 32 of the first device carrier 22 is for convenience only. Were the second device carrier 26 alternately or additionally performing a vehicle entry procedure, the device of the second device carrier 26 would alternately/additionally form part of the apparatus and the explanation below with respect to the first device carrier 22 would apply mutatis mutandis.
The apparatus 30 comprises a first processor 34 in the vehicle 1 and a second processor 36 in the device 32. Data sharing and communication between the first 34 and second 36 processors is facilitated by wireless transceivers associated with each of the processors 34, 36.
The device 32 comprises a suite of sensing means 38, in this case comprising an accelerometer, a gyroscope and a magnetometer. The suite of sensing means 38 send data signals to an input of the second processor 36 via a conductive track 40.
The vehicle 1 comprises four suspension travel sensors, sensor 42a which measures suspension travel associated with a right front wheel, sensor 42b which measures suspension travel associated with a left front wheel, sensor 42c which measures suspension travel associated with a right rear wheel and sensor 42d which measures suspension travel associated with a left rear wheel. Each of the suspension travel sensors 42a-d send data signals to respective inputs of the first processor 34 via respective wired connections 44a-d.
The vehicle 1 comprises four door closure sensors, sensor 46a which determines door closed or open for a driver door, sensor 46b which determines door closed or open for a front passenger door, sensor 46c which determines door closed or open for a rear passenger nearside door and sensor 46d which determines door closed or open for a rear passenger offside door. Each of the door closure sensors 46a-d send data signals to respective inputs of the first processor 34 via respective wired connections 48a-d.
The first processor 34 also has an output 50 for sending data signals which control adjustment to components and systems of the vehicle 1.
Whilst in the embodiment described above the apparatus 30 comprises components of the vehicle 1 and the device 32 (mobile phone) of the first device carrier 22, the apparatus 30 may transitorily comprise the components of the vehicle 1 and one or more additional/alternative devices (e.g. the device of the second device carrier 26). Furthermore in alternative embodiments the apparatus could comprise exclusively components of a device (e.g. a mobile phone). Thus in some embodiments the apparatus is the device rather than the apparatus comprising a combination of the device and the vehicle.
Referring now to Figure 4, an example use process for the apparatus 30 is described in which the apparatus identifies that the first device carrier 22 is performing a vehicle entry procedure to the vehicle 1 and infers whether the first device carrier 22 enters from the left or right side of the vehicle 1.
The process starts with commencement of monitoring of the movement pattern of the device 32 by the second processor 36. Initiation of this monitoring may for instance occur upon detection by the apparatus 30 of the device entering within a proximity perimeter of the vehicle 1 at a pre-determined distance from the vehicle 1. By way of example such detection may be performed via monitoring the relative positions of the vehicle 1 and device 32 using GPS or via use of one or more proximity sensors. At the same time the first processor 34 identifies the specific device via the wireless transceivers associated with each of the processors 34, 36.
The movement pattern is monitored using data sent from the sensing suite 38. Specifically acceleration data collected by the sensing suite 38 in a local coordinate frame (local to the particular orientation of the device) is converted by the second processor 36 into a global coordinate system where the x-axis is tangential to the ground and pointing east, the y-axis is tangential to the ground and pointing towards magnetic north and the z-axis is perpendicular to the ground and points up. The second processor 36 monitors z-axis accelerations for a disruption in the movement pattern that is indicative of an interruption in walking by the first device carrier 22. Where such an interruption is determined, the second processor 36 notifies the first processor 34 via the wireless transceivers associated with each of the processors 34, 36. Where the first processor 34 determines that a vehicle door opening event then occurs within a predefined period in accordance with data received from the door closure sensors 46a-d, it determines the start of a vehicle entry procedure and informs the second processor 36 of a start time for the entry procedure. Where however no door opening event is detected within the predetermined period, the first processor 34 informs the second processor 36. The second processor 36 then continues monitoring for a disruption in the movement pattern that is indicative of an interruption in walking by the first device carrier 22, whereupon it would once again notify the first processor 34. In this embodiment parameters contained in the movement data input from the sensing suite 38 and parameters contained in the door closure data input from the door closure sensors 46a-d therefore constitute initiation parameters indicative of whether the first device carrier 22 starts a vehicle entry procedure. In other embodiments a determined interruption in walking may be used in isolation to determine the start time, without the support of additional data (e.g. door opening).
Where the first processor 34 informs the second processor 36 of a start time for the entry procedure, the second processor 36 monitors the heading of the device at predefined intervals. The heading of the device 32 is monitored using data (i.e. heading parameters) sent from the sensing suite 38. Heading parameters collected by the sensing suite 38 in a local coordinate frame (local to the particular orientation of the device) are used by the second processor 36 to calculate a heading angle at the relevant time in a global coordinate system. In the global coordinate system the x-axis is tangential to the ground and pointing east, the y-axis is tangential to the ground and pointing towards magnetic north and the z-axis is perpendicular to the ground and points up. Figures 6 and 7 show example graphs of such heading angles against time for device carriers entering from a right side of a vehicle and a left side of the vehicle respectively. These graphs also show detected step events and a step event determined to be the last step event prior to the start time for the entry procedure determined in the manner previously described.
The second processor 36 sends the heading angles it has established to the first processor 34. Meanwhile the first processor 34 determines whether a suspension travel consistent with a sitting action is detected in the vehicle 1 in accordance with data received from the suspension travel sensors 42a-d. Where such suspension travel is detected the first processor 34 determines a vehicle door closure event occurs within a predefined period in accordance with data received from the door closure sensors 46a-d. Where such a door closure event is determined to occur, the first processor 34 determines the end of the vehicle entry procedure. Where the required combination of suspension travel and door closure are not detected, the vehicle entry procedure is deemed to be ongoing until they are. In this embodiment parameters contained in the suspension travel data input from the suspension travel sensors 42a-d and parameters contained in the door closure data input from the door closure sensors 46a-d therefore constitute termination parameters indicative of whether the first device carrier 22 completes the vehicle entry procedure.
The first processor 34 infers the side of the vehicle 1 from which the first device carrier 22 entered the vehicle in dependence on the one or more heading angles received corresponding to part of the period between the start and end times. This process is described in more detail below.
In a first step the first processor 34 determines a part of the period between the start and end times and uses only heading angles determined within this part of the period to infer the entry side of the vehicle 1. The part of the period is determined in accordance with a pre-determined time off-set applied to the start time and a predetermined time off-set applied to the end time. The predetermined time off-sets are applied so as the part of the period starts after the start time and finishes before the end time. The predetermined time off-sets may allow parts of the entry procedure to be discounted from the heading analysis, which may be advantageous where it is believed/known that parts of this procedure may be less helpful/counter-productive in inferring side of vehicle entry. It may be for instance that heading changes occurring at the beginning and end of the vehicle entry procedure may be more erratic and less well correlated to a particular vehicle entry side. The duration of the pre-determined off-sets may be selected accordingly (i.e. in view of perception and/or data indicative of periods between the start and end time that are less/not helpful).
The first processor 34 divides the part of the period into three segments (Ti, T2 and T3 in Figure 5), such that the heading angles (illustrated by crosses 60 in Figure 5) collected within the part of the period are also divided among the three segments J\T2 and T3. The segments Ti, T2 and T3are of unequal duration (each corresponding to the expected duration of anticipated macro-movements associated with a vehicle entry procedure). In other embodiments the segment durations may vary from those of the present embodiment and may or may not be consistent. As can be seen the time between collecting the heading parameters varies in the present case. This is because the second processor 36 only reports the heading angles 60 when a heading change above a particular threshold occurs. This may save energy, but in other embodiments the time between heading angles used may be consistent. As will be appreciated the number of heading angles 60 per segment J\T2 and T3 varies with the relative segment durations and the varying time intervals between the heading angles. Thus in other embodiments the number of heading angles 60 per segment 7Ί, T2 and T3 may vary from those of the present embodiment and may or may not be consistent between segments J\T2 and T3. Furthermore, in other embodiments, if constant sensory data rate, e.g. from an accelerometer, gyroscope and magnetometer, is utilised to calculate the heading angle and/or rotation matrix to the global coordinates system, the number of estimated heading angles per time segment may be equal.
The first processor 34 unwraps and smooths the heading angles in order to reduce the influence of erratic and/or rapid fluctuations in heading angle. Thereafter the first processor 34 extracts features for each segment T2 and T3 where the features correspond to the average gradient in heading angle occurring within each segment J\T2 and T3. Thus:
where ψ is the feature for the relevant segment, μ is the number of heading angles in the relevant segment, T is the total time duration of the relevant segment and Θ is the heading angle in the relevant segment at the relevant time. Use of the average gradient in heading angle rather than absolute heading angle may reduce the susceptibility of the accuracy of the method to inaccuracies in absolute heading angle.
A weighting is then applied by the first processor 34 to the feature extracted for each segment Ti,T2 and T3 in accordance with the likely significance of that segment in accurately inferring the entry side 3, 9 of the vehicle 1. The values of the weightings are based on prior training data. Using the calculated features and the weightings applied to each, the first processor 34 uses a logistic function to calculate the probability that the vehicle entry procedure was performed on the left side 3 of the vehicle 1, and the probability that it was performed on the right side 9 of the vehicle 1.
The first processor 34 then determines the inference to be output. Specifically where the probability for left side vehicle entry is greater than or equal to a pre-determined threshold (which might for example be between 0.6 and 0.8), a left side vehicle entry is inferred. Where the probability for right side vehicle entry is greater than or equal to a pre-determined threshold (which might for example be between 0.6 and 0.8), a right side vehicle entry is inferred. Where neither the probability of left nor the probability of right is greater than or equal to its respective pre-determined threshold, a failure to infer a vehicle entry side arises. Concurrent applicability of the criteria for more than one of the possible inferences is avoided because the probability of one or other of left and right is determined by subtracting the calculated probability of the other from 1. Appropriate selection of the pre-determined thresholds is also of assistance in this respect. The first processor 34 then outputs a left, right or unknown side inference corresponding to the determination.
In alternative embodiments alternative methods of determining an inference may be used, e.g. minimising a cost function. By way of example an inference decision for left or right side of the vehicle may be made based on minimising:
where c(CbC+) is the cost of an incorrect classification.
Figure 8 shows a graph of example experimental data for device carriers entering from either the right (in this case the driver) or left (in this case a passenger) of the vehicle, the graph plotting one extracted feature against another taken from the entry procedure for the relevant device carrier. Figure 8 illustrates the utilised features for user entry from right (driver) and left (passenger) sides of the vehicle from a pilot study using 107 trials undertaken by seven participants. The period for each vehicle entry procedure was divided into two segments. The decision boundary shown was obtained by maximising the likelihood from a logistic regression/classifier via a gradient decent algorithm.
Although not discussed in the example provided above, an inference as to the forward/rearward position of the vehicle entry location may also be made. This may be particularly advantageous where the vehicle has more than one possible vehicle entry location on each side of the vehicle. As will be appreciated, variation across the data received from the suspension travel sensors 42a-d and/or door closure sensors 46a-d may for example be used by the first processor 34 in inferring forward to rearward vehicle entry location. The inference as to forward/rearward entry location may be made in a similar manner as for the vehicle side inference discussed above. Thus the first processor 34 may determine probabilities for front and rear location entry from the data available and infer front, rear, or unknown forward to rearward entry location in dependence on pre-determined thresholds for those probabilities.
Figure 9 shows example heading angle data over time for two device carriers who perform vehicle entry procedures on the same side of the vehicle (the right side) over time periods which partially overlap. Figure 9 also shows door signal data over the corresponding time period for the two doors on the right side of the vehicle (driver and passenger rear offside). By linking various data it may be possible to distinguish between left and right side and forward and rearward entry location for multiple device carriers even where their vehicle entry procedures at least partially overlap. By way of example, by linking device carrier movement analysis data (e.g. walking interruption) with door opening event timestamp data, it may be possible to differentiate between device carriers, even where they enter from the same side or both enter from a forward/rearward location and/or where their entry procedure times at least partially overlap.
With specific regard to Figure 9, it can be seen that detection of opening of a forward (in this case offside, driver) door occurs temporally nearer to a determined stop-walking action for a first device carrier than the determined stop-walking action for a second device carrier. Similarly opening of a rearward (in this case offside, passenger) door occurs temporally nearer to the determined stop-walking action for the second device carrier than the determined stopwalking action for the first device carrier. Thus, in this instance, it would be determined that the first device carrier has entered the vehicle via the forward (offside, driver) door and that the second device carrier has entered the vehicle via the rearward (offside, passenger) door.
In accordance with the output(s) from the first processor 34 inferring the side (and where provided the forward/rearward) location of vehicle entry, the first processor 34 controls vehicle systems and components by adjustment as necessary via control signals sent from the output 50, in order that they conform to the stored preferences of the user identified by the first device 32 for the corresponding vehicle zone. Where however the output from the first processor 34 is that the side (and where provided the forward/rearward) location of vehicle entry is unknown, the first processor 34 reverts to defaults for the vehicle systems and components (e.g. last used, or pre-determined default settings).
As will be appreciated the embodiment discussed above is not intended to be limiting. Byway of example alternative/additional initiation parameters and/or alternative termination parameters for determining the start time and end times respectively could be used. By way of further example the determination of the side of vehicle entry inference need not be made solely in accordance with the heading parameters. It could be for instance that additional data is accounted for in determining the probabilities of left and right side vehicle entry. By way of example suspension travel data and/or door opening/closing data could also be used. It is further explicitly noted that any task performed by the first processor 34 or the second processor 36 may be performed by the other processor 34, 36 and indeed all tasks may be performed by only one of these processors 34, 36.
It will be appreciated that embodiments of the present invention can be realised in the form of hardware, software or a combination of hardware and software. Any such software may be stored in the form of volatile or non-volatile storage such as, for example, a storage device like a ROM, whether erasable or rewritable or not, or in the form of memory such as, for example, RAM, memory chips, device or integrated circuits or on an optically or magnetically readable medium such as, for example, a CD, DVD, magnetic disk or magnetic tape. It will be appreciated that the storage devices and storage media are embodiments of machine-readable storage that are suitable for storing a program or programs that, when executed, implement embodiments of the present invention. Accordingly, embodiments provide a program comprising code for implementing a system or method as claimed in any preceding claim and a machine readable storage storing such a program. Still further, embodiments of the present invention may be conveyed electronically via any medium such as a communication signal carried over a wired or wireless connection and embodiments suitably encompass the same.
All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and/or all of the steps of any method or process so disclosed, may be combined in any combination, except combinations where at least some of such features and/or steps are mutually exclusive.
Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. Thus, unless expressly stated otherwise, each feature disclosed is one example only of a generic series of equivalent or similar features.
The invention is not restricted to the details of any foregoing embodiments. The invention extends to any novel one, or any novel combination, of the features disclosed in this specification (including any accompanying claims, abstract and drawings), or to any novel one, or any novel combination, of the steps of any method or process so disclosed. The claims should not be construed to cover merely the foregoing embodiments, but also any embodiments which fall within the scope of the claims.

Claims (25)

1. An apparatus arranged to infer a side, left or right, of a vehicle from which a device carrier enters the vehicle, the apparatus comprising: one or more input means arranged to receive: i) one or more initiation parameters associated with the device and/or the vehicle indicative of whether the device carrier starts a vehicle entry procedure; and ii) one or more heading parameters indicative of the yaw of the device, one or more processing means arranged to determine a start time for the vehicle entry procedure in dependence on the received one or more initiation parameters, and to infer the side of the vehicle from which the device carrier entered the vehicle in dependence on the indicated yaw of the device corresponding to at least a part of a period, where the period is the time between the start time and an end time determined by the one or more processing means.
2. An apparatus according to claim 1 comprising one or more input means arranged to receive one or more termination parameters associated with the device and/or the vehicle indicative of whether the device carrier has completed the vehicle entry procedure and wherein the one or more processing means determines the end time for the vehicle entry procedure in dependence on the received one or more termination parameters.
3. An apparatus according to claim 2 where the one or more termination parameters comprise one or more of the following detected after the start time: i) detection of device carrier movements consistent with the device carrier performing a sitting action; ii) detection by a sensor associated with a vehicle seat of the vehicle of a signal consistent with a device carrier sitting on the seat; iii) detection by a sensor of the vehicle of vehicle suspension travel consistent with a device carrier sitting in the vehicle; iv) detection by a sensor of the vehicle that a door of the vehicle has been closed.
4. An apparatus according to any preceding claim comprising an output means and wherein the one or more processing means are arranged to output via the output means an indication of the inferred side of the vehicle from which the device carrier entered the vehicle.
5. An apparatus according to any preceding claim where the one or more processing means infer the side of the vehicle at least in part in dependence on whether the indicated yaw of the device indicates that the device carrier turns clockwise or anticlockwise during a part or all of the period.
6. An apparatus according to any preceding claim where the one or more processing means are arranged to determine a gradient of yaw angle occurring during a part or all of the period and infer the side of the vehicle at least in part in dependence on whether the gradient indicates that the device carrier turns clockwise or anti-clockwise in the relevant period.
7. An apparatus according to any preceding claim where the input means is configured to receive the one or more heading parameters from a sensing means of the device, wherein the sensing means comprises one or more of: an accelerometer, a gyroscope and a magnetometer.
8. An apparatus according to any preceding claim where one or more heading parameters are generated relative to a local coordinate system corresponding to the orientation of the device and the one or more processing means are arranged to perform a coordinate transformation to convert the one or more heading parameters such that calculated yaw angles are relative to a global coordinate system.
9. An apparatus according to claim 8 where yaw angles recorded over part or all of the period and relative to the global coordinate system are unwrapped by the one or more processing means.
10. An apparatus according to claim 8 or claim 9 where a plot of yaw angles recorded over part or all of the period and relative to the global coordinate system are smoothed by the one or more processing means.
11. An apparatus according to any preceding claim where a part of the period used to infer the side of the vehicle is defined by the one or more processing means in accordance with a pre-determined time off-set applied to the start time and/or a predetermined time off-set applied to the end time.
12. An apparatus according to claim 11 where the one or more processing means are arranged to: separate the part of the period into segments; assess each segment separately in terms of yaw changes occurring during that segment; and infer the vehicle side in dependence on the assessment of all segments.
13. An apparatus according to claim 12 where the one or more processing means are arranged to calculate the average gradient of the yaw angle occurring within each segment and determine a probability for right and a probability for left side vehicle entry in dependence on the average gradients for the segments and infer left or right side vehicle entry or unknown entry side in dependence on the probabilities.
14. An apparatus according to claim 13 where one or more processing means are arranged to weight the significance of each of one or more of the segments differently when determining the probabilities.
15. An apparatus according to claim 13 or claim 14 where the one or more processing means is arranged to infer one or more of: left side vehicle entry where the probability for left side vehicle entry is greater than or equal to a pre-determined threshold, right side vehicle entry where the probability for right side vehicle entry is greater than or equal to a pre-determined threshold and a failure to infer a vehicle entry side where neither the probability of left nor the probability of right is greater than or equal to its respective pre-determined threshold.
16. An apparatus according to any preceding claim where the one or more initiation parameters comprise one or more of the following: i) detection by a sensor of the device of a signal broadcast by a transmitter of the vehicle, where such detection is indicative of a degree of proximity between the device and the vehicle; ii) detection by a sensor of the vehicle of a signal broadcast by a transmitter of the device, where such detection is indicative of a degree of proximity between the device and the vehicle; iii) detection by a sensor of the vehicle of a signal broadcast by a transmitter of an apparatus other than the device, where such detection is indicative of a degree of proximity between the apparatus and the vehicle; iv) detection by a sensor of the vehicle that an attempt to open a door of the vehicle has been made; v) GPS data indicating that the device is within a particular distance of the vehicle; vi) detection of an interruption to a walking pattern consistent with commencement of an entry procedure to the vehicle by the device carrier.
17. An apparatus according to any preceding claim where the processing means is arranged to infer the side of the vehicle from which the device carrier entered the vehicle in dependence on one or more of: i) detection by a sensor of the device of a signal broadcast by a transmitter of the vehicle, where the signal is indicative of the side of the vehicle on which the device carrier is located; ii) detection by a sensor of the vehicle of a signal broadcast by a transmitter of the device, where the signal is indicative of the side of the vehicle on which the device carrier is located; iii) detection by a sensor of the vehicle of a signal broadcast by a transmitter of an apparatus other than the device, where the signal is indicative of the side of the vehicle on which the device carrier is located; iv) detection by a sensor of the vehicle that an attempt has been made to open a particular door or a door on a particular side of the vehicle; v) detection by a sensor of the vehicle that an attempt has been made to close a particular door or a door on a particular side of the vehicle; vi) GPS data indicative of the side of the vehicle towards which the device carrier has approached the vehicle and/or the side of the vehicle on which the device carrier is located; and vii) detection by a sensor of the vehicle of vehicle suspension travel consistent with a device carrier sitting in the vehicle on a particular side and/or in a particular location.
18. An apparatus according to any preceding claim where the processing means is arranged to infer a forward to rearward location at which the device carrier entered the vehicle in dependence on one or more of: i) detection by a sensor of the device of a signal broadcast by a transmitter of the vehicle, where the signal is indicative of the location of the device carrier with respect to the vehicle; ii) detection by a sensor of the vehicle of a signal broadcast by a transmitter of the device, where the signal is indicative of the location of the device carrier with respect to the vehicle; iii) detection by a sensor of the vehicle of a signal broadcast by a transmitter of an apparatus other than the device, where the signal is indicative of the location of the device carrier with respect to the vehicle; iv) detection by a sensor of the vehicle that an attempt has been made to open a particular door of the vehicle; v) detection by a sensor of the vehicle that an attempt has been made to close a particular door of the vehicle; vi) GPS data indicative of a part of the vehicle towards which the device carrier has approached and/or the location of the device carrier with respect to the vehicle; and vii) detection by a sensor of the vehicle of vehicle suspension travel consistent with a device carrier sitting in the vehicle on a particular side and/or at a particular location.
19. An apparatus according to any preceding claim where the apparatus comprises an input means arranged to receive a signal from the device identifying the specific device.
20. An apparatus according to any preceding claim arranged to output a signal for adapting one or more vehicle systems in dependence on the inferred entry side of the device carrier.
21. An apparatus according to any preceding claim where the apparatus comprises the device; and/or wherein the apparatus is comprised of a combination of the device and one or more vehicle components.
22. A vehicle comprising an apparatus according to any of claims 1 to 21.
23. A method for inferring the side, left or right, of a vehicle from which a device carrier enters the vehicle, the method comprising: receiving one or more initiation parameters associated with the device and/or the vehicle indicative of whether the device carrier starts a vehicle entry procedure, and one or more heading parameters indicative of the yaw of the device, determining a start time for the vehicle entry procedure in dependence on the one or more initiation parameters received and an end time for the vehicle entry procedure, and inferring the side of the vehicle from which the device carrier entered the vehicle in dependence on the indicated yaw of the device corresponding to at least part of a period where the period is the time between the start and end times.
24. A computer program that, when executed by a processor, causes performance of the method of claim 23.
25. A non-transitory computer readable storage medium comprising computer readable instructions that, when executed by a processor, cause performance of the method of claim 23.
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