GB2568769A

GB2568769A - Door Monitoring System

Info

Publication number: GB2568769A
Application number: GB1800603.1A
Authority: GB
Inventors: Nirmal Vishal
Original assignee: Jaguar Land Rover Ltd
Current assignee: Jaguar Land Rover Ltd
Priority date: 2017-11-23
Filing date: 2018-01-15
Publication date: 2019-05-29
Anticipated expiration: 2038-01-15
Also published as: GB201800603D0; GB2568769B

Abstract

A controller (Figure 1, 20) for a door monitoring system is provided for determining the presence of an object (2) trapped in an aperture of a vehicle (100) by a closure member (12). The controller comprises input means configured to receive first image data of the closure member and aperture from an imaging means (Figure 1, 11), the first image data being obtained when the vehicle door is closed, and second image data of the closure member and aperture from an imaging means, the second image data being obtained following opening and reclosing of the closure member. The controller further comprises processing means for comparing the first image data and the second image data and for determining the presence of an object trapped in the aperture; and output means for outputting, in dependence on said comparison, an output signal.

Description

DOOR MONITORING SYSTEM

TECHNICAL FIELD

The present disclosure relates to a door monitoring system and particularly, but not exclusively, to a controller for determining the presence of an object trapped in an aperture of a vehicle body. Aspects of the invention relate to a controller, to a system, to a vehicle and to a computer readable storage medium.

BACKGROUND

Trapping an object such as part of an item of clothing or a portion of a seatbelt in a vehicle door can, at best, cause the item to be wrinkled or dirty and, at worst cause damage to the item caught in the door. Movement of the vehicle after an object has become trapped in the door can have even more serious consequences for the trapped object, and for any user, occupant or passenger of the vehicle, particularly if they are attached to the trapped object.

If the object is large enough to prevent successful latching of the vehicle door on closing, systems are known to inform users or drivers of the vehicle that the door is not properly closed, and/or to prevent locking of the door or driving of the vehicle.

Systems are also known for the detection of objects trapped within vehicle windows, such as automobile windows. Such ‘anti-pinch’ mechanisms are however not sensitive enough to detect the presence of articles such as items of clothing. In general, these mechanisms use pressure sensors to determine whether an obstruction is present in the movement path of the window and prevents subsequent window movement, but systems using other methods have also been developed.

It is known to provide camera systems on vehicles for monitoring the vehicle’s surroundings. For example, automobiles may have a number of cameras placed on or around the vehicle. Often these cameras are used for purposes such as parking guidance and collision detection. However, it is possible to use this camera data for other purposes.

It is therefore desired to provide a means of detecting objects trapped in a vehicle aperture so that a driver or passenger of the vehicle can be alerted, and the item can be freed, before the vehicle moves, or moves more than a predetermined distance.

It is an aim of an embodiment or embodiments of the invention to overcome or at least partially mitigate problems associated with the prior art.

SUMMARY OF THE INVENTION

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

According to an aspect of the present invention there is provided a controller for determining the presence of an object trapped in an aperture of a vehicle body that is closed by a closure member. The controller comprises input means configured to receive first image data of the closure member and aperture from an imaging means, the first image data being obtained when the closure member is closed; and also to receive second image data of the closure member and aperture from an imaging means, the second image data being obtained following opening and reclosure of the closure member. The controller further comprises processing means for comparing the first image data and the second image data and for determining the presence of an object trapped in the aperture; and output means for outputting, in dependence on said comparison, an output signal.

In an example, the controller is configured to obtain the first image data in dependence on a closure member opening condition being met. A closure member opening condition indicates that the closure member (e.g. vehicle door) may soon be opened. In embodiments, the closure member opening condition comprises a determination of an opening signal to indicate that closure member opening is imminent. ‘Imminent’ here means likely to occur in a short period following the signal, that is, during a threshold time period after a signal. The threshold time period may be, for example, less than one second, five seconds, 30 seconds, one minute, 10 minutes, or longer than this. Additionally or alternatively, the closure member opening condition may be an unlock command signal for a locking mechanism associated with the closure member.

In some embodiments, the controller is configured to obtain the second image data in dependence on one or more closure member closing conditions being met. A closure member closing condition indicates that the closure member has been closed and/or that the vehicle is soon to move, or has begun to move.

Closure member closing conditions may include the closure of the closure member, the determination of a latching or locking signal for a locking mechanism associated with the closure member, the engagement of a forward or reverse gear of the vehicle, and/or the determination that the vehicle has moved at least a predetermined distance from a vehicle position associated with vehicle closure member reclosure.

In some embodiments, the second image data may comprise multiple images. The multiple images may be obtained during movement of the vehicle following reclosure of the closure member.

In some embodiments, an output signal may be output in dependence on the presence of a trapped object being determined on the basis of the comparison. The output signal may be a lock inhibit signal to prevent latching and/or locking of a locking mechanism associated with the closure member and/or a drive inhibit signal to prevent engagement of a forward or reverse gear of the vehicle. The output signal may be operable to cause notification of the trapped object to an occupant/user of the vehicle.

The processing means of the controller may be configured to compare the first image data and the second image data using one or more of: an image subtraction process; a pixel-by-pixel comparison process; and an object detection process.

According to another aspect of the present invention there is provided a system comprising a controller according to the aforementioned aspect of the invention, and one or more imaging means for obtaining the first and second image data. In some embodiments the system comprises a memory for storing at least the first image data, and/or a display apparatus which provides a visual and/or audible signal to one or more occupants of the vehicle on receipt of the output signal. The display apparatus may provide a representation of the second image data to the one or more occupants of the vehicle on receipt of the output signal.

According to still another aspect of the present invention there is provided a system as described in the preceding aspects of the invention, wherein the controller comprises an electronic processor having an electrical input for receiving the first and second image data and an electrical output for outputting the output signal, and also comprises an electronic memory device electrically coupled to the electronic processor and having instructions stored therein. In this aspect, the comparison of the first and second image data, the detection of the presence of an object, and the outputting of the output signal comprises the processor being configured to access the memory device and execute the instructions stored therein such that it is operable to detect the presence of an object trapped in the aperture and to output an output signal based on the comparison.

According to yet another aspect of the present invention there is provided a method for determining the presence of an object trapped in an aperture of a vehicle body that is closed by a vehicle door. The method comprises obtaining first image data of the vehicle door and aperture from an imaging means when the door is closed. Following opening and reclosure of the vehicle door, the method comprises obtaining second image data of the vehicle door and aperture from the imaging means; comparing the first and second image data to determine the presence of an object trapped within the vehicle door; and outputting an output signal on the basis of the comparison.

In embodiments, the first image data may be obtained in dependence on a closure member opening condition being met.

In embodiments, the second image data may be obtained in dependence on a closure member closing condition being met.

In embodiments, the method comprises providing a visual and/or audible signal to one or more occupants of the vehicle in dependence on the output signal. In embodiments, the method may comprise providing a representation of the second image data to the one or more occupants in dependence on the output signal. Optionally, the visual and/or audible signal may be provided on or by a display apparatus of, on or within the vehicle.

In another aspect of the invention there is provided a non-transitory, computerreadable storage medium storing instructions thereon that when executed by one or more electronic processors causes the one or more electronic processors to carry out the abovementioned method.

The present invention extends to a vehicle configured to perform the method, or comprising one or more controllers or systems in accordance with the above aspects of the invention. In one example, the vehicle is a motor vehicle and one or more of the imaging means is associated with one or more side mirrors or door mirrors of the motor vehicle.

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 is a schematic plan view of a vehicle having a door monitoring system of an embodiment of the invention;

Figures 2A and 2B are representations of first and second image data, respectively, of closure members of a vehicle, showing operation of an embodiment of a door monitoring system in an example scenario; and

Figure 3 is a flowchart showing operation of an embodiment of a door monitoring system in another example scenario.

DETAILED DESCRIPTION

A vehicle 100 incorporating a door monitoring system 10 in accordance with an embodiment of the present invention is schematically shown in Figure 1. The vehicle 100 in the illustrated arrangement is an automobile, but the door monitoring system 10 could be used in other types of vehicle 100. In the illustrated arrangement, the closure members of the invention are the vehicle doors 12 including any openable glazing members such as door windows, and the terms door, vehicle door and closure member are used interchangeably herein. The door monitoring system 10 is concerned in use with the front driver door and the front passenger door 12 of the vehicle 100, but the door monitoring system could equally be concerned with any and all driver and passenger doors, and/or the hatch, door or tailgate 12’ of a boot or trunk of the vehicle 100. Multiple door monitoring systems may be incorporated within a single vehicle 100 concerned with a different door or doors. The vehicle 100 has a reference frame comprising a longitudinal axis X, a transverse axis Y and a vertical axis Z in a direction perpendicular to the page.

In particular, the door monitoring system 10 portrayed in Figure 1 is capable of receiving image data of an closure member 12 of the vehicle 100 and comparing image data to detect the presence of an object trapped by the closure member. The closure member in this embodiment is a vehicle door 12.

The vehicle door 12 may be in an open or closed state. When closed, the vehicle door 12 prevents movement through the aperture between the interior and exterior of the vehicle for people and objects. When open, movement may occur through the aperture between the interior and exterior of the vehicle. The terms Opening’ and ‘closing’ refer to changes in the state of the vehicle door, respectively from closed to open, and from open to closed.

The door monitoring system 10 comprises: imaging means 11, for obtaining first and second image data of the vehicle door 12; a controller 20, which is configured to receive and compare the first and second image data and output an output signal in dependence on the comparison. The controller 20 comprises an input (not shown) that is configured to receive the first and second image data, and an output (not shown) capable of outputting an output signal. In this system the controller 20 receives further inputs from and/or outputs the output signal to other entities, including but not limited to a display apparatus 13 of the vehicle 100, an opening/closing mechanism 14 associated with the vehicle door 12, a locking mechanism 15 associated with the vehicle door 12, a vehicle gear selection mechanism 17, a vehicle hand or parking brake 16, a system for detection of the movement of the vehicle such as an odometer 18, and the powertrain and/or ignition system 19 for the vehicle 100. The controller 20 also comprises processing means (not shown) for comparing the first and second image data and detecting the presence of an object trapped in the vehicle aperture by the vehicle door 12. The system 10 also includes a data store or memory (not shown) for storing the first image data before the acquisition of the second image data. This memory may be part of the controller 20, part of the imaging means 11, or may reside elsewhere. The controller 20 may be located within the vehicle 100 or may be located elsewhere, for example in a remote computing system such as held by a smartphone or other remote device. In such arrangements, the inputs and outputs to and from the controller 20 may occur through wireless transmission of data. This may be carried out by a central sub-controller which transmits data to the remote controller 20. The features of the controller 20 may be divided or duplicated in any way between central and remote locations.

In the embodiment of Figure 1, the imaging means of the depicted system takes the form of one or more cameras 11 located around the vehicle 100, each of which is configured to obtain and to transmit first and second image data to the input of the controller 20 for processing. The image data may also or instead be transmitted to the memory of the system such that it can be stored until the second image data is obtained a short time later. The cameras 11 have a field of view such that the image data obtained is of the target aperture. As such, the cameras 11 are suitably located away from the main body of the vehicle 100. For example, the cameras 11 can be mounted on or otherwise associated with the side mirrors or door mirrors of the vehicle. The cameras 11 may be associated with any other system which requires image data of the vehicle 100 and/or its surroundings to be obtained, such as systems to detect collision, or to aid in parking or other manoeuvres. Advantageously, this allows the imaging means 11 to be supplied by standard or existing hardware.

The first image data is obtained when the door 12 is closed, that is, obtained at the time during which the door 12 is closed. It is intended that the first image data is a representation of the vehicle door 12 and aperture with no object trapped thereby. The first image data may be taken early in the lifetime of the system and stored in the memory of the system, such that the same first image data can be compared with second image data obtained on multiple later occasions.

Suitably, however, the first image data is updated over time. In some embodiments the first image data may be obtained in dependence on one or more closure member opening conditions being met. An opening condition may be any event or signal which indicates that the vehicle door 12 is soon to be opened, thereby giving a chance that an object may be trapped by the door 12 when it is reclosed. In this way, the first image data is obtained close in time and location to when the second image data is obtained, such that the first and second image data are as similar as possible barring the presence or absence of a trapped object, and so allowing accuracy in the comparison between the first and second image data. For example, this prevents any visible changes to the outside of the vehicle body, such as changes in colour (for example due to the vehicle becoming dirty in use), or cosmetic damage (as may be caused by dents or scratches), from affecting the comparison between the first and second image data.

In some embodiments, one opening condition is the determination of an opening signal to indicate that the closure member opening is imminent. For example, this opening signal can take the form of activating the handle of the door 12 from the inside or outside of the vehicle, pressing a button to trigger opening of the door 12 from the inside or outside, or the detection of the proximity of an object which indicates the presence of a user or occupant of the vehicle 100 - this object can be a key fob, mobile device or any other feature representative of the user including detection of the user themselves. Such detection may occur by any means known in the art, such as infrared, radio, motion detection or similar, as will be appreciated.

In some embodiments, one opening condition is an unlock command signal for a locking mechanism associated with the door 12. This unlock command signal can take the form of turning the key in the lock of the door 12, issuing a remote unlocking signal from a remote key device or mobile device, entering a code to unlock the door 12, pressing a button inside or outside the vehicle to unlock the door 12, or detecting the proximity of an object which indicates the presence of an authorised user - this object can as above be a key fob, mobile device or any other feature representative of the user including detection of the user themselves.

The second image data is obtained and is received by the controller 20 after the first image data, following opening and closing of a vehicle door 12. Typically, the second image data is obtained in dependence on one or more closure member closing conditions being met. A closing condition may be any event or signal which indicates that the vehicle door 12 has been closed after being opened, thereby giving a chance that an object may have been trapped by the door 12. A closing condition may also or instead be any event or signal which indicates that the vehicle 100 is soon to move, or has begun to move, thereby indicating that any object trapped in the door 12 should be freed before the vehicle 100 moves too far or too quickly. The controller 20 may have inputs from one or more entities to enable the detection of these closing conditions.

In some embodiments, one closing condition is the closure of the vehicle door 12. In some embodiments, one closing condition is the determination of a latching or locking signal for a locking mechanism 15 associated with the vehicle door 12. In this way the second image data can be taken in dependence on a latching or locking signal being given indicating that a user has closed the vehicle door 12 and is about to depart the vicinity of the vehicle 100, such that any trapped object can be detected at this point. Alternatively, this can mean that the second image data can be taken This latching or locking signal can take the form of turning the key in the lock of the door 12, issuing a remote locking signal from a remote key device or mobile device, entering a code to lock the door 12, pressing a button inside or outside the vehicle 100 to lock the door 12, or detecting the distance of an object which indicates the departure of a user of the vehicle 100 - this object can as above be a key fob, mobile device or any other feature representative of the user including detection of the user themselves.

In some embodiments, one closing condition is the engagement or attempted engagement of a forward or reverse gear, for example by depression of the clutch and/or brake pedal and/or the movement of a gear selector into a forward or reverse gear selection position in the case of a vehicle with manual transmission, which are indicative that the vehicle is about to start moving. Likewise, in vehicles with automatic transmission, depression of the brake pedal and/or the engagement of a drive or reverse gear by the movement of a gear selecting lever or shifter, or in any other way, may be used to indicate the closing condition.

Other closing conditions can include one or more of the disengagement of a handbrake, parking brake or other means 16 for inhibiting the movement of a vehicle; the starting of a vehicle powertrain; and/or the activation of an ignition system 19 and/or the electrical systems of the vehicle by insertion of a key or the operation of a button for those purposes. Any of these events can indicate that the vehicle 100 is soon to move.

In some embodiments one closing condition is the movement of the vehicle 100 itself of at least a predetermined distance. In this way the second image data can be taken after the vehicle has moved a short distance so that any object trapped in the door can be freed before the vehicle moves too far or too quickly from standstill, that is, from a vehicle position associated with the closure of the closure member (vehicle door 12). This predetermined distance may be, for example, at least about 0.05m, 0.1m, 0.2m, 0.5m, 1.0m, 2.0m, 5.0m, 10.0m, or 15.0m.

The second image data may comprise multiple images. These may be taken in response to one or more closure member closing conditions. In this way, the first image data can be compared against multiple second image data images, or an average or summary of multiple second image data images. This allows any transient components of the image such as shadows or passers-by to be corrected for. If multiple images are taken as the vehicle moves away from standstill, this allows the second image data to be corrected for the presence of substantially stationary objects which are not themselves trapped in the door. For example, if a vehicle 100 is stationary in an area of long grass when the door is opened and then closed, the presence of the long grass in the second image data may lead to a difference being detected between the first and second image data, as long grass may not maintain the same position between acquisition of first and second image data. If the second image data comprises multiple images taken during initial vehicle movement from standstill, it can be detected that a trapped object will move with the vehicle 100 and so be present even after vehicle movement from standstill, whereas the long grass will not.

Figures 2A and 2B show representations of the first and second image data, being images of the vehicle door 12 (closure member) obtained by the imaging means. An object 2, here being an article of clothing, has been trapped in the aperture and is visible to the imaging means. The processing means of the controller 20 compares the first and second image data and determines that there is a difference, and the controller 20 outputs an output signal accordingly in dependence on the comparison.

No particular restriction is intended for the method by which the first and second image data are compared. Multiple methods exist and are known in the art for the comparison of image data and the detection of differences between them. Such methods include, but are not limited to, pixel-by-pixel comparisons, image subtraction processes, object detection processes, edge detection processes, the detection of interruptions in the outline of the door 12, and digital image correlation processes. The processing means may form a part of the controller 20 and may be configured to use one or more processes of these kinds to carry out the comparison.

It is noted that minor changes in the relative position of the imaging means 11 and door 12, as well as changes in illumination (whether in intensity, wavelength or otherwise) and other factors may occur between the acquisition of first and second image data. Such global factors may affect the comparison process, as they may cause differences to be detected between image data which are not associated with objects 2 trapped in the aperture. It is therefore considered that registration, correction and/or compensation processes may be necessary to control for these factors before comparison occurs. For example, image registration using fixed points in the field of view of the imaging means may be used to transform images from the first and/or second image data onto the same coordinates before comparison occurs. The processing means may be configured to carry out such processes before or as part of the comparison.

The output signal is transmitted to one or more components of the vehicle. The output signal distinguishes between situations where an object 2 is trapped in the vehicle aperture, and where it is not. For example, in some embodiments the output means is configured to output the output signal in dependence on the presence of a trapped object 2 being determined on the basis of the comparison, while in some embodiments an output signal is produced every time first and second image data are compared, with a positive output signal only output in dependence on the presence of a trapped object 2 being determined.

In some embodiments the system comprises a display apparatus 13 which is configured to receive the output signal and to provide a visual or audible signal to one or more occupants of the vehicle 100 on receipt of the output signal. For example, on receipt of an output signal indicating that an object 2 has been trapped, the display apparatus may provide an audible alarm to the occupants of the vehicle 100. The display apparatus 13 may be located on the instrument panel or dashboard of the vehicle 100 or elsewhere. In some embodiments the display apparatus 13 is configured to provide a representation of the second image data to the one or more occupants of the vehicle 100. This may be an image and/or a live video feed of the vehicle aperture and vehicle door 12. In this way the occupants of the vehicle 100 can see the putative object 2 trapped in the vehicle aperture and can then free it or determine whether it is a false-positive.

The display apparatus 13 may also be portable and/or not part of the vehicle itself, such as a smartphone or mobile device which is configured to provide an audible or visual signal on receipt of an output signal. In such cases, the output signal is outputted from the controller 20 of the system which may comprise a transmitter or transceiver for the purpose of communicating with the display apparatus. This is particularly helpful when the system detects a trapped object 2 as the user locks the vehicle and walks away from the vehicle 100, as the smartphone or mobile device is likely to be carried by the user at that time.

The output signal can alternatively or additionally be transmitted to other components. For example, in some embodiments the output signal is a lock inhibit signal to prevent latching and/or locking of a locking mechanism 15 associated with the door 12. In this way, vehicle door locking can be prevented while an object is trapped in the vehicle door 12. Suitably, these embodiments can include situations where a closing condition is the determination of a latching or locking signal for a locking mechanism 15 associated with the vehicle door 12.

In some embodiments the output signal is a drive inhibit signal to prevent engagement of a forward or reverse gear of the vehicle. This can prevent motion of the vehicle 100 when an object has been detected to be trapped in the vehicle door 12. Similarly, these embodiments may suitably include situations where a closing condition is the engagement or attempted engagement of a drive or reverse gear of the vehicle 100.

Situations where the invention may be of use are varied and no particular limitations are intended. For example, in the use of a motor vehicle, objects could become trapped in a vehicle door 12 on entering or leaving the vehicle 100. When leaving a vehicle 100, an object 2 could become trapped by the door 12, and could be detected by the invention before the owner of the object 2 moves too far away. Alternatively, on re-entering a parked vehicle 100, an object 2 could again become trapped by the door 12, and, in response to latching or locking the door 12, engaging a drive or reverse gear and/or beginning to move the vehicle 100, the invention would detect the object 2 before excessive soiling or damage occurs.

In other examples, the invention may be used in conjunction with the doors of vehicles such as trains and other rail vehicles, trams, streetcars, buses, coaches, trucks and the like. For example, a user of such a vehicle could have his or her clothing trapped in a closing door when entering or leaving the vehicle, and the invention could act to warn or release the clothing before the vehicle departs.

A flowchart depicting an example of the operation of a door monitoring system 10 according to an embodiment of the invention is shown in Figure 3. In use, a door open request is given 30, the system starts 31 and the imaging means 11 takes a snapshot A of the door to be opened, that is, first image data is obtained 32. This image data is stored 33 in the system memory. The door is opened and is later closed. In response to one or more closing conditions being met, second image data is then obtained 35, 37. In this example, a closing condition is a door lock request 34, which may be a latching or locking signal for a locking mechanism 15 associated with the vehicle door 12 being determined. Snapshot B (second image data) is taken 35. Alternatively or additionally, a closing condition is the engagement of a forward (drive) or reverse gear

36, which likewise prompts the acquisition of a new snapshot C (second image data)

37. The first image data A and one or more of the second image data B and C are then compared 38 by the processing means of the controller 20 and the presence or absence of a foreign object 2 trapped in the aperture is detected 39. If a trapped object is detected, the driver is notified 40 and/or the vehicle door is unlocked 41. Unlocking of the vehicle door may comprise preventing the vehicle door from being locked. If no object is detected, the system ends and awaits the next cycle indicated by a further door open request.

Features, integers or characteristics described in conjunction with a particular aspect, embodiment or example of the invention are to be understood to be applicable to any other aspect, embodiment or example described herein unless incompatible herewith. All the features disclosed in the 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. 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.

Modifications may be made to the illustrated embodiments without departing from the scope of the present invention as defined in the accompanying claims.

Claims

1. A controller for determining the presence of an object trapped in an aperture of a vehicle by a closure member, the controller comprising:

input means configured to receive:

first image data of the closure member and aperture from an imaging means, the first image data being obtained when the closure member is closed; and second image data of the closure member and aperture from an imaging means, the second image data being obtained following opening and reclosure of the closure member;

processing means for comparing the first image data and the second image data and for determining the presence of an object trapped in the aperture; and output means for outputting, in dependence on said comparison, an output signal.

2. A controller according to claim 1, wherein the controller is configured to obtain the first image data in dependence on a closure member opening condition being met.

3. A controller according to claim 2 wherein the closure member opening condition comprises a determination of an opening signal to indicate that closure member opening is imminent.

4. A controller according to claim 2 or 3 wherein the closure member opening condition comprises an unlock command signal for a locking mechanism associated with the closure member.

5. A controller according to any of the preceding claims wherein the controller is configured to obtain the second image data in dependence on a closure member closing condition being met.

6. A controller according to claim 5 wherein the closure member closing condition comprises the closure of the closure member.

7. A controller according to claim 5 or 6 wherein the closure member closing condition comprises a determination of a latching or locking signal for a locking mechanism associated with the closure member.

8. A controller according to any of claims 5 to 7 wherein the closure member closing condition comprises the engagement of a forward or reverse gear of the vehicle.

9. A controller according to any of claims 5 to 8 wherein the closure member closing condition comprises the determination that the vehicle has moved at least a predetermined distance from a vehicle position associated with vehicle closure member reclosure.

10. A controller according to any of the preceding claims wherein the second image data comprises multiple images.

11. A controller according to claim 10 wherein the multiple images are obtained during movement of the vehicle following reclosure of the closure member.

12. A controller according to any of the preceding claims wherein the output means is configured to output the output signal in dependence on a determination of the presence of a trapped object.

13. A controller according to any of the preceding claims wherein the output signal comprises a lock inhibit signal to prevent latching and/or locking of a locking mechanism associated with the closure member.

14. A controller according to any of the preceding claims wherein the output signal comprises a drive inhibit signal to prevent engagement of a forward or reverse gear of the vehicle.

15. A controller according to any of the preceding claims wherein the processing means is configured to compare the first image data and the second image data using an image subtraction process.

16. A controller according to any of the preceding claims wherein the processing means is configured to compare the first image data and the second image data using a pixel-by-pixel comparison process.

17. A controller according to any of the preceding claims wherein the processing means is configured to compare the first image data and the second image data using an object detection process.

18. A method for determining the presence of an object trapped in an aperture of a vehicle by a closure member, the method comprising:

obtaining first image data of the closure member and aperture from an imaging means when the closure member is closed;

following opening and reclosure of the closure member, obtaining second image data of the closure member and aperture from the imaging means;

comparing the first and second image data to determine the presence of an object trapped within the closure member; and outputting an output signal on the basis of the comparison.

19. A method according to claim 18 wherein the first image data is obtained in dependence on a closure member opening condition being met.

20. A method according to claim 18 or 19 wherein the second image data is obtained in dependence on a closure member closing condition being met.

21. A method according to any of claims 18 to 20 comprising providing a visual and/or audible signal to one or more occupants of the vehicle in dependence on the output signal.

22. A method according to claim 21 comprising providing a representation of the second image data to the one or more occupants of the vehicle in dependence on the output signal.

23. A system comprising a controller according to any of claims 1 to 17 and one or more imaging means for obtaining the first and second image data.

24. A system according to claim 23 comprising memory for storing at least the first image data.

25. A system according to claim 23 or 24 comprising a display apparatus which provides a visual and/or audible signal to one or more occupants of the vehicle on receipt of the output signal.

26. A system according to claim 25 wherein the display apparatus provides a representation of the second image data to the one or more occupants of the vehicle on receipt of the output signal.

27. A non-transitory, computer-readable storage medium storing instructions thereon that when executed by one or more processors causes the one or more processors to carry out a method according to any of claims 18 to 22.

28. A vehicle configured to perform the method of any of claims 18 to 22, comprising the controller of any of claims 1 to 17, or comprising one or more systems according to any of claims 23 to 26.

29. A vehicle according to claim 28 wherein the vehicle comprises a motor vehicle and one or more of the imaging means is associated with one or more side mirrors or door mirrors of the motor vehicle.