GB2574383A

GB2574383A - Apparatus and method for determining an orientation of a vehicle

Info

Publication number: GB2574383A
Application number: GB1808896.3A
Authority: GB
Inventors: Woolliscroft Daniel; James Gordon Pither Edward; Cardoso Helio; Pettinger David
Original assignee: Jaguar Land Rover Ltd
Current assignee: Jaguar Land Rover Ltd
Priority date: 2018-05-31
Filing date: 2018-05-31
Publication date: 2019-12-11
Anticipated expiration: 2038-05-31
Also published as: GB2574383B; GB201808896D0

Abstract

The invention provides a controller (200 see fig 2), comprising: environment input means (230 see fig 2) for receiving an environment signal indicative of a location of at least one feature in a vicinity of a vehicle (110 see fig 1a); control means (210 see fig 2) arranged to determine 415 the orientation of a defined manoeuvre completed position of the vehicle in dependence on the environment signal; and output means (240 see fig 2) for outputting a possible defined manoeuvre completed position signal in dependence on the determined orientation. Plural possible orientations may be notified 425. The invention provides suitability for achieving parallel, perpendicular or diagonal parking depending on the space available and may conveniently include communication with the user via a mobile phone, tablet, watch or wearable device.

Description

APPARATUS AND METHOD FOR DETERMINING AN ORIENTATION OF A VEHICLE

TECHNICAL FIELD

The present disclosure relates to determining an orientation of a completed position of a vehicle, particularly, but not exclusively, to determining an orientation of a defined manoeuvre completed position of the vehicle. Aspects of the invention relate to a controller, to a system, to a method, to a vehicle and to computer software.

BACKGROUND

It is known for a vehicle to perform a defined manoeuvre, such as an automatic, or semiautonomous, parking manoeuvre. The vehicle may be instructed to perform the manoeuvre remotely e.g. via a mobile device at which a user input is received to instruct the manoeuvre.

Environment sensing means of the vehicle are used to determine a location of features in a vicinity of the vehicle such as, although not exclusively, markings, walls, posts, other vehicles etc. The vehicle may then be instructed, such as via the mobile device or other input medium, to move to a parked location in relation to the features. For example, it may be desired for a vehicle to move into a parking space bounded by the features. In order to prevent the vehicle contacting an object the environment sensing means determines a distance between the vehicle and the object and the automatic parking manoeuvre is performed to leave the vehicle a separation distance from the object. For example, the vehicle may be reversed towards the feature, until an appropriate separation distance is determined by the environment sensing means. If a space is large enough to receive the vehicle, the vehicle is parked in the space - for example, to be positioned in the centre of a garage. Once the vehicle has reached a completed parked position, the vehicle is switched off, typically with a parking brake applied.

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

SUMMARY OF THE INVENTION

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

According to an aspect of the invention, there is provided a controller arranged to operably cause an orientation of a defined manoeuvre completed position of a vehicle to be determined.

According to an aspect of the invention, there is provided a controller, comprising:

environment input means for receiving an environment signal indicative of a location of at least one feature in a vicinity of a vehicle;

control means arranged to determine the orientation of a defined manoeuvre completed position of the vehicle in dependence on the environment signal; and output means for outputting a possible defined manoeuvre completed position signal in dependence on the determined orientation. Advantageously the defined manoeuvre can be performed to a preferable defined manoeuvre completed position orientation.

The controller as described above, wherein:

the input means may comprise an electrical input for receiving the signal;

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

The defined manoeuvre may comprise a parking manoeuvre. The parking manoeuvre may comprise a parking-in manoeuvre, such as parking into a space to a stationary position. The parking manoeuvre may comprise an un-parking manoeuvre, such as parking out of a space from a stationary position. The defined manoeuvre completed position may comprise a parked position.

The controller may comprise a notification output means for outputting a notification signal indicative of the possible defined manoeuvre completed position signal.

The control means may be arranged to determine the orientation of the defined manoeuvre completed position in dependence on the environment signal being indicative of an orientation of the at least one feature in the vicinity of the vehicle.

The control means may be arranged to determine the orientation of the defined manoeuvre completed position to be aligned relative to the at least one feature in the vicinity of the vehicle.

The control means may be arranged to determine the orientation of the defined manoeuvre completed position to be parallel to the at least one feature in the vicinity of the vehicle.

The control means may be arranged to determine the orientation of the defined manoeuvre completed position to be perpendicular to the at least one feature in the vicinity of the vehicle.

The orientation of the at least one feature in the vicinity of the vehicle may comprise the orientation of at least one other vehicle in the vicinity of the vehicle.

The control means may be arranged to determine the orientations of a plurality of possible defined manoeuvre completed positions of the vehicle in dependence on the environment signal.

The control means may be arranged to notify a vehicle user of the orientations of the plurality of possible defined manoeuvre completed positions.

The controller may comprise output means for outputting a manoeuvre signal to cause the vehicle to perform a defined manoeuvre to the defined manoeuvre completed position; wherein the control means is arranged to control the output means to output the manoeuvre signal.

The controller may comprise request input means for receiving a request signal indicative of a wired or wirelessly received signal indicative of a user request for vehicle movement.

The control means may be arranged to determine the orientation of the defined manoeuvre completed position in dependence on a location of the vehicle.

The controller may comprise memory means for storing data therein, the control means being arranged to determine the orientation of the defined manoeuvre completed position in dependence on the data. Advantageously the controller may determine the orientation or a default orientation using historical data, such as associated with one or more of: a particular location, a scenario, a user and/or a pattern.

The control means may be arranged to determine a vacancy. The control means may be arranged to define at least one vehicle envelope within the vacancy, the vehicle envelope being suitable for receiving the vehicle in the defined manoeuvre completed position. The control means may be arranged to define within the vacancy at least one defined manoeuvre completed position for the vehicle.

The vehicle envelope may comprise a target position suitable for receiving the vehicle in the defined manoeuvre completed position. The vehicle envelope may comprise a target defined manoeuvre completed position. The vehicle envelope may be determined in dependence on a one-dimensional property and/or measurement and/or estimation. The vehicle envelope may be determined in dependence on the environment signal being indicative of a length, such as an unobstructed length between features, the unobstructed length being sufficiently long for receiving the vehicle in the defined manoeuvre completed position. The vehicle envelope may be determined in dependence on a two-dimensional property and/or measurement and/or estimation. For example, the vehicle envelope may be determined in dependence on the environment signal being indicative of a length, such as between features, wherein along that length there is no obstruction within a particular width or breadth perpendicular to the length. The particular width or bready may correspond to at least a width or breadth of the vehicle, such as a vehicle width when the vehicle is parked and in a closed configuration, such as with vehicle aperture members closed. The particular width or breadth may correspond to at least a length of the vehicle, such as a vehicle length when the vehicle is parked and in the closed configuration in a perpendicular or parking lot or fishbone diagonal parked position. The vehicle envelope may comprise at least one dimension of a parking area and the defined manoeuvre completed position may be a parked position. The vehicle envelope may correspond to a predefined parking space. The vehicle envelope may comprise a target length, area or volume for receiving the vehicle in or on in the defined manoeuvre completed position.

The control means may be arranged to define at least two vehicle envelopes within the vacancy, each vehicle envelope comprising a discrete defined manoeuvre completed position that is offset within the vacancy.

The vehicle envelopes may be non-overlapping. Alternatively, the vehicle envelopes may be overlapping.

The vehicle envelopes may extend in respective longitudinal directions adjacent and parallel each other. Alternatively, the vehicle envelopes may extend along a same longitudinal axis, with a first vehicle envelope being longitudinally displaced along the longitudinal axis from a second vehicle envelope. In a yet further alternative, the vehicle envelops may be arranged with non-parallel longitudinal axes, such as with a first vehicle envelope having a longitudinal axis perpendicular to a longitudinal axis of a second vehicle envelope.

The control means may be arranged to determine the orientation in dependence on a position of a vehicle occupant. Advantageously an orientation, such as a forwards/rearwards or parallel/perpendicular orientation, can be adapted to suit a position of a vehicle occupant, such as whether the vehicle occupant is positioned in or out of the vehicle.

The controller may comprise memory means for storing data therein, the control means being arranged to determine the orientation in dependence on the data.

The control means may be arranged to adapt the defined manoeuvre completed position and/or the orientation thereof in dependence on the environment signal being indicative of a change in at least one feature in the vicinity of the vehicle. Advantageously the defined manoeuvre may be adapted during performance, such as in response to an actual change in the feature, such as a movement, and/or a detected change in the feature, such as a discovery of a previously undetected parameter of the feature (e.g. a previously shielded or undetected void or protrusion or the like)

The controller may comprise control means arranged to determine the orientation in dependence on a mode of performance of at least a portion of the defined manoeuvre. Advantageously, the orientation can be adapted to be appropriate for a mode. For example, the controller may be arranged to adapt the orientation in dependence on the mode being an occupant in-vehicle mode or an occupant out of vehicle mode. The controller may comprise control means arranged to adapt the orientation in dependence on at least one of: an ambient condition in the vicinity of the vehicle (e.g. precipitation, such as rain; temperature; light level; wind; etc.); a terrain in the vicinity of the vehicle (e.g. road surface, off-road surface, smoothness of road surface, etc).

According to an aspect of the invention, there is provided a system, comprising: the controller as described above, arranged to output the possible defined manoeuvre completed position signal.

The system may comprise notification output means for notifying the vehicle user of the possible defined manoeuvre completed position.

The system may comprise environment sensing means for determining the location of the at least one feature in the vicinity of the vehicle and for outputting the environment signal.

The system may comprise receiver means for wirelessly receiving a signal from a mobile device indicative of a user request and outputting a request signal in dependence thereon.

The notification output means may be arranged to output a notification signal for the visual and/or audio notification indicative of the possible defined manoeuvre completed position.

The system may comprise environment sensing means for determining the location of the at least one feature in the vicinity of the vehicle.

The system may comprise receiver means for receiving a signal indicative of the user request and outputting the request signal in dependence thereon.

Where the control means is arranged to output the manoeuvre signal; the system may comprise actuator means for receiving the manoeuvre signal to cause the vehicle to perform the defined manoeuvre.

According to an aspect of the invention, there is provide a method of determining an orientation of a defined manoeuvre completed position of a vehicle, the method comprising: receiving an environment signal indicative of a location of at least one feature in a vicinity of the vehicle;

in dependence on the environment signal, determining with a control means the orientation of the defined manoeuvre completed position of the vehicle; and outputting a possible defined manoeuvre completed position signal in dependence on the determined orientation.

The method may comprise outputting a notification signal indicative of the possible defined manoeuvre completed position signal.

The method may comprise determining with the control means the orientation of the defined manoeuvre completed position in dependence on the environment signal being indicative of an orientation of the at least one feature in the vicinity of the vehicle.

The method may comprise determining the orientation of the defined manoeuvre completed position to be aligned relative to the at least one feature in the vicinity of the vehicle.

The at least one feature in the vicinity of the vehicle may comprise at least one other vehicle in the vicinity of the vehicle.

The method may comprise determining the orientations of a plurality of possible defined manoeuvre completed positions of the vehicle in dependence on the environment signal; and notifying a vehicle user of the orientations of the plurality of possible defined manoeuvre completed positions.

The method may comprise offering selectability of the orientation to a user, such as selection from the plurality of possible defined manoeuvre completed positions.

The method may comprise determining the orientation of the defined manoeuvre completed position in dependence on a location of the vehicle.

The method may comprise receiving a request signal indicative of a wired or wirelessly received signal indicative of a user request for vehicle movement.

The method may comprise outputting a manoeuvre signal to cause the vehicle to perform a defined manoeuvre to the defined manoeuvre completed position; the output means being controlled by the control means to output the manoeuvre signal.

The method may comprise storing data in a memory means, and determining the possible defined manoeuvre completed position in dependence on the data.

The method may comprise detecting a vacancy in dependence on the environment signal.

The method may comprise, in dependence on at least one dimension parameter of the vacancy derived from the environment signal, determining at least one vehicle envelope within the vacancy. The vehicle envelope may be suitable for receiving the vehicle in the defined manoeuvre completed position.

The method may comprise determining the vehicle envelope in dependence on the environment signal being indicative of at least one additional parameter associated with the vacancy in addition to the dimension parameter.

The method may comprise categorising the vacancy in one or more categories, the categories corresponding to one or more of:

the vacancy comprises a vehicle envelope suitable for receiving the vehicle in the defined manoeuvre completed position;

the vacancy comprises a vehicle envelope suitable for receiving the vehicle in the defined manoeuvre completed position on performance of a particular mode of defined manoeuvre;

the vacancy comprises a vehicle envelope of a particular orientation;

the vacancy comprises a plurality of vehicle envelopes; the vacancy comprises a single vehicle envelope; and the vacancy comprises no vehicle envelope.

According to an aspect of the invention, there is provided a vehicle comprising a controller according to an aspect of the invention, a system according to an aspect of the invention or arranged to perform a method according to an aspect of the invention.

According to an aspect of the invention, there is provided computer software which, when executed by a processing means, is arranged to perform a method according to an aspect of the invention. The computer software may be stored on a computer readable medium. The computer software may be tangibly stored on a computer readable medium. The computer readable medium may be non-transitory.

Any controller or controllers described herein may suitably comprise a control unit or computational device having one or more electronic processors. Thus the system may comprise a single control unit or electronic controller or alternatively different functions of the controller may be embodied in, or hosted in, different control units or controllers. As used herein the term “controller” or “control unit” will be understood to include both a single control unit or controller and a plurality of control units or controllers in a control system collectively operating to provide any stated control functionality. To configure a controller, a suitable set of instructions may be provided which, when executed, cause said control unit or computational device to implement the control techniques specified herein. The set of instructions may suitably be embedded in said one or more electronic processors. Alternatively, the set of instructions may be provided as software saved on one or more memory associated with said controller to be executed on said computational device. A first controller may be implemented in software run on one or more processors. One or more other controllers may be implemented in software run on one or more processors, optionally the same one or more processors as the first controller. Other suitable arrangements may also be used.

Within the scope of this application it is expressly intended that the various aspects, embodiments, examples and alternatives set out in the preceding paragraphs, in the claims and/or in the following description and drawings, and in particular the individual features thereof, may be taken independently or in any combination. That is, all embodiments and/or features of any embodiment can be combined in any way and/or combination, unless such features are incompatible. The applicant reserves the right to change any originally filed claim or file any new claim accordingly, including the right to amend any originally filed claim to depend from and/or incorporate any feature of any other claim although not originally claimed in that manner.

BRIEF DESCRIPTION OF THE DRAWINGS

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

Figure 1a shows a vehicle in relation to a feature in a vicinity of the vehicle;

Figure 1b shows the vehicle in relation to the feature, in another scenario;

Figure 1c shows the vehicle in relation to the feature, in another scenario;

Figure 2 shows a controller according to an embodiment of the invention;

Figure 3 shows a system according to an embodiment of the invention;

Figure 4 shows a method according to an embodiment of the invention;

Figure 5a, shows the vehicle according to an embodiment of the invention in a scenario based on that of Figure 1a;

Figure 5b, shows the vehicle according to an embodiment of the invention in a scenario based on that of Figure 1b;

Figures 5c, 5d and 5e illustrate the vehicle in scenarios based on that of Figure 1c; and

Figure 6 is a vehicle according to an embodiment of the invention.

DETAILED DESCRIPTION

Figures 1 a, 1 b and 1 c illustrate a vehicle 110 according to an embodiment of the invention in three scenarios. In Figures 1a and 1b, the vehicle 110 is illustrated as having a vehicle forward direction, indicated by arrow 114, shown parallel to a central longitudinal axis 112 of the vehicle 110. In the illustrated scenarios, the vehicle 110 is shown at a defined manoeuvre start position. In the particular scenarios shown in Figures 1a, 1b and 1c, it may be desirable to perform a defined manoeuvre to park the vehicle 110 in the defined manoeuvre completed position in a vacancy 172.

In Figures 1a, 1b and 1c the vehicle 110 is shown adjacent a vacancy 172, where the defined manoeuvre would be performed with the vehicle 110 performing a parking-in defined manoeuvre to enter the vacancy 172. In Figure 1a, the vehicle 110 is shown in relation to a feature 125 in a vicinity of the vehicle 110. The feature 125 is, in this example, an object which is a wall that is parallel to the longitudinal axis 112 of the vehicle 110 i.e. generally parallel to a side of the vehicle 110, such as a left side here - in the defined manoeuvre completed position. The object is not limited to being a wall 125 and may be, for example, a bollard, fence, barrier, or other object at or adjacent the vacancy 172, such as to form a boundary thereof. As shown in Figures 1a, 1b and 1c, another feature 140, in the form of a stationary vehicle bounds an end of the vacancy 172. Likewise, another feature 150, in the form of another stationary vehicle bounds an opposite end of the vacancy 172. It will be appreciated that in each scenario, although not shown, there may be a further boundary or limitation to the vacancy 172, (e.g. in Figures 1b and 1c there may be a wall feature similar to that 125 of Figure 1a). It will be appreciated that although shown here in plan view, the scenarios depicted are three dimensional.

As can be seen from Figure 1c in particular, it may be unclear and/or there may be multiple options for orienting the vehicle in the space indicated by the vacancy 172.

Embodiments of the present invention aim to ameliorate such problems.

It will be understood in the scenarios shown in Figures 1a, 1b and 1c that the defined manoeuvre may be a manoeuvre of the vehicle 110 which is performed automatically by the vehicle 110 i.e. under control of one or more systems of the vehicle 110. The defined manoeuvre may be considered to be performed automatically by the vehicle 110, or at least semi autonomously. As shown, in Figures 1a, 1b and 1c the defined manoeuvre may be a parking manoeuvre to control the vehicle 110 to drive into a parking place.

As will be further explained, it may be advantageous for at least a portion of the manoeuvre to be performed whilst a person in control of the vehicle 110 is external to the vehicle 110. For example, access to the vehicle 110 may be limited in Figure 1a after performing the defined manoeuvre.

To perform the defined manoeuvre, the vehicle 110 comprises environment sensing means for determining a location of features 125, 140 in the vicinity of the vehicle 110. The environment sensing means may comprise one or more sensing devices or imaging devices. The one or more sensing devices may emit radiation and receive radiation reflected from the features in the vicinity of the vehicle, such as ultrasonic sensing devices, although it will be appreciated that the present invention is not limited in this respect. Such environment sensing means have a minimum distance to which accuracy the location of the features 125 may be determined due to, for example, a resolution of an imaging device or a signal-tonoise ratio of a sensing device.

In the particular examples shown here, the vehicle 110 comprises a portion of the environment sensing means in or on the vehicle moveable projection 182. For example, each side or wing mirror of the vehicle 110 can have a camera or the like mounted thereto or thereon.

Figure 2 illustrates a controller 200 or control unit 200 according to an embodiment of the invention, such as comprised in the vehicle 110 of Figures 1 (a) and 1 (b).

The controller 200 comprises a control means 210, input means 230 and output means 240. In some embodiments the controller comprises a memory means 220 such as one or more memory devices 220 for storing data therein. Here, the input means 230 is for receiving an environment signal indicative of the features 125, 140, 150 in the vicinity of the vehicle 110.

The control means 210 is arranged to determine the orientation of a defined manoeuvre completed position of the vehicle 110 in dependence on the environment signal. The output means 240 is for outputting a possible defined manoeuvre completed position signal in dependence on the determined orientation. Advantageously, the controller 200 can determine the orientation of the defined manoeuvre completed position based on a context, such as indicated by the environment signal.

Here, the controller 200 comprises a notification output means for outputting a notification signal indicative of the possible defined manoeuvre completed position. The control means 210 is arranged to output the notification signal indicative of a plurality of possible defined manoeuvre completed positions. In at least some examples, the defined manoeuvre completed position is selectable from the plurality of selectable possible defined manoeuvre completed position by a user in dependence upon the possible defined manoeuvre completed position signal. Advantageously, the user can be notified of the availability of one or more target defined manoeuvre completed positions, allowing the user to select their preferred target defined manoeuvre completed position where available. For example, the user may be offered a possibility of a rearwards parallel orientation of the vehicle 110 in the scenario of Figure 1c, such as indicated in broken lines in Figure 5c.

In at least some examples, the control means 210 is arranged to provide a notification signal indicative of no possible defined manoeuvre completed position, corresponding to a scenario (not shown) whereby the vacancy 172 is unsuitable for receiving the vehicle 110 on performance of a defined manoeuvre. Accordingly, the user is made aware by notification that a vacancy has been identified, but that it is unsuitable for performance of the defined manoeuvre - for example, where a vacancy is too small for the performance of a defined manoeuvre (e.g. whereby the adjacent feature 125, or objects 140, 150 are significantly closer together than in Figure 1a, with insufficient dimensions for receiving or accommodating the vehicle 110 - even with the vehicle in a closed configuration).

The control means 210 may be formed by one or more electronic processing devices such as an electronic processor. The processor may operably execute computer readable instructions stored in the one or more memory devices 220. The control means 210 is arranged to control the output means 240 to output the possible defined manoeuvre completed position signal in dependence on the environment signal, as will be explained. In some embodiments the input means 230 and output means 240 may be combined such as by being formed by an I/O unit or interface unit. For example, the controller 210 may comprise an interface to a network forming a communication bus of a vehicle. The interface bus may be an Internet Protocol (IP) based communication bus such as Ethernet, although embodiments of the invention are not limited in this respect. The input means 230 may comprise an electrical input for receiving the environment signal.

As shown here, the memory means 220 can be used to store data from the input means 230. For example, the memory means can store data about the features 125, 140, or the vacancy 172 for future use. For example, where an occupant or user of the vehicle 110 has actively selected (e.g. by inputting one or more parameter inputs) or implicitly shown (e.g. through a repeated behavioural or use pattern) a preferences for a target defined manoeuvre completed position and/or orientation for one or more scenarios, the memory means can store data corresponding to the preference to provide a default and/or automatic target defined manoeuvre completed position and/or orientation in dependence on the input (e.g. environment signal and/or location signal, etc) being indicative of a such or similar scenario for the preference or preferences.

The data may be stored prior to and during performance of the defined manoeuvre, for use during the performance of the defined manoeuvre. In addition, or alternatively, the data may be stored for use during a subsequent defined manoeuvre. For example, where the data is stored prior to or during the performance of the defined manoeuvre to arrive at the defined manoeuvre completed position of any of Figures 5a to 5e, as shown in broken lines, then the stored data may be used for or during a subsequent defined manoeuvre, such as an unparking manoeuvre from the defined manoeuvre completed position of Figures 5a to 5e. Where stored data, such as of the features 125, 140, 150 is used for the performance of at least a portion of the defined manoeuvre, the controller 200 may perform a check, such as to the validity or continued validity of the data. For example, the controller 200 may corroborate the data with another input, such as with a later input from the environment sensing means, or input from another portion of the environment sensing means (e.g. another sensor or camera located at another portion of the vehicle 110, the another sensor or camera able to confirm the continued presence and/or position of the feature or features 125, 140, 150).

In at least some examples, the controller 210 may comprise a second input means for receiving a request signal indicative of a received signal indicative of a user request, such as a wirelessly received signal. In at least some examples, the request signal is indicative of a wirelessly received signal representing a user request for movement of the vehicle 110 to a desired defined manoeuvre completed position. The user request may be for the performance of the defined manoeuvre to a selected target defined manoeuvre completed position and/or orientation.

In at least some examples, the controller 200 may comprise a manoeuvre output means. The manoeuvre output means may comprise an electrical output for outputting a manoeuvre signal. The manoeuvre signal represents an instruction for the vehicle 110 to move. The instruction provided by the manoeuvre signal is provided to cause the vehicle 110 to perform the defined manoeuvre. The control means 210 is arranged to control the manoeuvre output means to cause the vehicle 110 to perform at least a portion of the defined manoeuvre in dependence on the environment signal.

It will be appreciated that the controller 200 may be arranged to perform a portion of the defined manoeuvre in a particular mode. For example, the user may initiate the manoeuvre with control being transferred to the controller 210 thereafter to perform the defined manoeuvre to the defined manoeuvre completed position, with the mode of performance being variable during the performance of the portion of the defined manoeuvre (e.g. between an occupant-in-vehicle mode and an occupant-out-of-vehicle mode).

Figure 3 illustrates a system 300 according to an embodiment of the invention. The system 300 comprises the controller 210 described above and shown in Figure 2.

The system 300 comprises environment sensing means 330 for determining information about an environment of the vehicle 110. In particular, the environment sensing means 330 is provided for determining a location of one or more features in a vicinity of the vehicle 110. In at least some examples, a portion of the environment sensing means is associated with the one or more moveable projections 182, such as at least one sensor or camera mounted in or on a vehicle wing mirror. The environment sensing means 330 is arranged to output an environment signal indicative of the determined features. The environment signal may be environment data which may be stored in the memory. The environment sensing means may comprise one or more sensing devices such as imaging devices, such as cameras, or other sensing devices such as LIDAR, radar, ultrasonic devices, sonar devices etc. Signals output by each of the sensing devices may be used to form a representation of the environment of the vehicle 110 which is stored in the memory for use by other systems of the vehicle 110.

Here, the environment sensing means 330 is arranged to determine a location of features such as surface markings, which may be painted lines denoting a perimeter of a parking bay, for example, or objects such as walls, posts or other vehicles in relation to which the vehicle is required to manoeuvre. The control means is arranged to determine an absence of features, such as a separation between obstructive features, such as the adjacent features 140, 150 shown here, in dependence on the environment signal. Accordingly, the control means is arranged to determine a vacancy 172 where no features, such as no obstructive features, are located. Where the vacancy 172 is sufficiently great, the control means is arranged to determine a vehicle envelope 174 suitable for receiving the vehicle 110 in the defined manoeuvre completed position. The vehicle envelope 174 comprises a target position suitable for receiving the vehicle 110 in the defined manoeuvre completed position.

As such, the vehicle envelope 174 here comprises a target defined manoeuvre completed position. In at least this example, the vehicle envelope 174 is determined in dependence on a one-dimensional property and/or measurement and/or estimation. In particular, here, the vehicle envelope 174 is determined in dependence on the environment signal being indicative of a length, such as an unobstructed length between features 140, 150. The unobstructed length is sufficiently long for receiving the vehicle 110 in the defined manoeuvre completed position, the length here being a separation between features 140, 150 that is greater than the vehicle length in the defined manoeuvre completed position. The defined manoeuvre may comprise, for example, parking in a parked position.

The environment sensing means 330 is arranged to determine the orientation of the one or more features in the vicinity, such as the orientation of adjacent vehicles 140, 150.

The controller 210 of the system 300 here comprises defined manoeuvre means. The control means is arranged to control the vehicle 110 to perform at least one defined manoeuvre. The controller 210 may comprise a defined manoeuvre controller for controlling one or more systems of the vehicle 110 to perform one or more defined manoeuvres. The defined manoeuvre means may be associated with one or more actuators 350 of the vehicle 110. The one or more actuators 350 are provided for effecting movement of the vehicle 110. The actuators may comprise one or more of a power steering mechanism arranged to provide steering of wheels of the vehicle 110 in dependence on signals received from the controller 210. A second actuator may comprise a powered braking mechanism of the vehicle 110 which is arranged to actuate brakes of the vehicle in dependence on signals received from the controller 210. A third actuator comprises the powertrain of the vehicle. The controller 210 is arranged to control the steering of the vehicle wheel 180 relative to the feature 125. A fourth actuator 350 comprises one or more mechanisms for altering the position of the one or more moveable projections 182.

The system 300 shown here comprises a motive control means 320. The motive control means 320 may be a motive control unit. The motive control means 320 is arranged to receive the manoeuvre signal output by the controller 210. The motive control means 320 is associated with one or more motive units of the vehicle 110 which may form part of a powertrain (not shown) of the vehicle 110. The motive units may comprise one or more of an internal combustion engine and one or more electric machines of the vehicle 110. The powertrain is arranged to provide power, or torque, to cause movement in the longitudinal axis of the vehicle 110 i.e. forward or backward movement of the vehicle 100 in dependence on the manoeuvre signal received from the controller 210. The motive control means 320 is arranged to control the application of torque to one or more wheels of the vehicle 110 to move the vehicle 110 in the longitudinal axis of the vehicle i.e. to move the vehicle generally forwards or backwards. The torque may comprise driving torque i.e. applied in a direction of desired movement, such as forwards. The torque may also comprise braking torque i.e. applied to resist the driving torque. In at least some embodiments both driving torque and braking torque may be applied simultaneously in order to provide low-speed movement of the vehicle 110. The braking torque may also be applied at least partly after the driving torque in order to effect accurate movement of the vehicle 110. To achieve control of the steering, the controller 210 may communicate with the motive control means 320. Thus the one or more actuators 350 can control a direction and movement of the vehicle to perform the defined manoeuvre. The defined manoeuvre is performed in dependence on the environment signal provided by the environment sensing means 330.

The one or more defined manoeuvres which may be performed by the vehicle 110 under control of the controller 210 may comprise a parking manoeuvre, such as shown in Figures 5a to 5e wherein the vehicle 110 is controlled to arrive at a parked position.

As shown here, the system 300 comprises a receiver means 310 for receiving a signal 305. The signal 305 may be wirelessly received from a mobile device 390 associated with a person responsible for the vehicle 110. The signal 305 is indicative of a user request for vehicle movement of the vehicle 110, as noted above. The receiver means 310 is arranged to output the request signal to the input means 230 of the controller 210 as described above. The request signal may be output by the receiver means 310 onto a communication bus of the vehicle 110 which may communicably couple the components of the system 300.

The receiver means 310 may be in the form of a radio unit 310. The radio unit 310 may comprise a receiver for receiving radio signals 305 from the mobile device 390. In some embodiments the radio unit 310 may also comprise a transmitter, or may be a transceiver 310 configured to receive radio signals 305 transmitted from the mobile device 390 and transmit signals to the mobile device 390. The radio unit 103 and the mobile device 390 may be arranged to provide a wireless local area network, via which two-way communication may take place between the radio unit 103 and the mobile device 390. For example, the radio unit 103 may be arranged to communicate by WiFi (RTM) with the mobile device 390. In alternative embodiments other radio communication standards may be used for the communication. In one example, communication between the radio unit 103 and the mobile device 390 is provided via Bluetooth (RTM), although other protocols or standards may be envisaged.

The mobile device 390 may be an electronic key fob associated with the vehicle 110, such as may be used to gain entry and to activate or power up the vehicle 110. The mobile device 390 may, in other embodiments, be an electronic device associated with the person responsible for the vehicle 100 such as a mobile telephone, tablet, watch, wearable electronic device or other computing device associated with the person. The mobile device 390 is capable of receiving a user input indicating the person’s desire to move the vehicle 110. The user input may be provided in the form of a button or key press, activation of a graphically displayed icon, a gesture or voice command. Other forms of user input may also be envisaged.

Figure 4 illustrates a method 400 according to an embodiment of the invention. The method 400 is a method of controlling movement of the vehicle 110. The method 400 may be formed by the controller 210 and system 300 described above with reference to Figures 2 and 3. The method 400 will be described with reference to Figures 5(a), 5(b) and 5(c) to 5(e) as examples which correspond to the scenarios shown in Figures 1(a), 1(b) and 1(c) respectively.

The method 400 broadly comprises steps of receiving 410 the environment signal from the environment sensing means 330 which is indicative of a feature 125, 140 in a vicinity of the vehicle 110 and, in dependence thereon, determining 415 an orientation of a possible defined manoeuvre completed position for receiving the vehicle, following performance of a defined manoeuvre. The control means determines 415 whether the vehicle 110 could be oriented within the vacancy 172; such as where multiple target defined manoeuvre completed positions or orientations are possible. For example, in the scenario depicted in Figure 1b, the control means determines whether the vehicle 110 can be oriented in a forwards and/or a rearwards facing orientation in the vacancy, and parallel to the adjacent vehicles 140, 150. Where a defined manoeuvre is possible, a notification signal is output 425 indicative of which defined manoeuvre completed position and orientation is possible (e.g. forwards or rearwards and/or parallel or perpendicular), thereby offering a choice of target defined manoeuvre completed positions or orientations suitable for receiving the vehicle upon performance of the defined manoeuvre. Optionally, upon request 420 of an orientation or defined manoeuvre completed position, the control means controls the performance of the defined manoeuvre 440.

Referring to Figure 4, the illustrated embodiment of the method 400 comprises a step of receiving 410 the environment signal from the environment sensing means 330. The controller 210 determines 420 whether the environment signal is indicative of one or more features 125 in the vicinity of the vehicle 110 corresponding to suitable vacancy 172. If there is no suitable vacancy, then no defined manoeuvre is performed. In at least some examples, such non-performance or unavailability is communicated to the user (e.g. the user is notified that no suitable vehicle vacancy or only an unsuitable vacancy has been detected).

It will be appreciated that in at least some examples, the defined manoeuvre can be performed without an explicit or discrete selection by the user. For example, where only a single target defined manoeuvre completed position is available or most suitable, performance of the defined manoeuvre 440 may be performed to the defined manoeuvre completed position without any express selection between options or notification thereof. Likewise, in at least some examples, there may be a general default orientation provided for performing one or more defined manoeuvres, such as a preferred orientation where multiple orientations may be available. The default may be adaptable, such as programmable by a user and/or self-learning such as to evolve or adapt (e.g. with user behaviour over a period of time). In at least some examples, there may be a default mode to perform the defined manoeuvre without any option or requirement to select an orientation. In other examples, the default mode may be to a particular orientation, such as with perpendicular parking-in performed rearwards to leave the vehicle 110 facing forwards 114 out of the vacancy 172 in the direction entered, such as to ease unparking - or vice versa, with the parking-in performed rearwards to ease access to a boot or trunk of the vehicle 110 from the vacancy 172 entrance side.

The defined manoeuvre completed position and/or orientation may be selected explicitly via a user input, such as selection via an interface. In at least some examples, the defined manoeuvre completed position and/or orientation selection may be via a user action. For example, where an defined manoeuvre completed position and/or orientation is available, selection of an defined manoeuvre completed position and/or orientation may be at least partially achieved by user positioning the vehicle 110 in a defined manoeuvre start position with the vehicle 110 offset towards the preferred direction for orienting the vehicle 110 in the defined manoeuvre completed position (e.g. whereby the defined manoeuvre can be initiated with the vehicle 110 travelling in the forwards or rearwards direction respectively). Additionally, or alternatively, selection may be via another system or interface, such as activation of a left/right signal indicator; a steering wheel, touchscreen, voice command, or a location of an occupant (e.g. an occupant opening a vehicle door, exiting a vehicle seat, etc.).

In Figure 5(a), the vehicle 110 is illustrated in broken lines at a possible defined manoeuvre completed position with a possible orientation after the performance of a defined manoeuvre from the start position of Figure 1(a) to the defined manoeuvre completed position of Figure 5(a), according to an embodiment of the invention. Such a possible defined manoeuvre completed position and/or orientation can be notified to the user in advance of performance of the defined manoeuvre. Here, the defined manoeuvre would be performed to a target defined manoeuvre completed position to orient the vehicle 110 parallel to the adjacent vehicles 140, 150 in a parallel, on-street parking defined manoeuvre.

Figure 5(b) shows a scenario generally similar to that shown in Figure 1(b). In Figure 5(b) the control means has identified a possibility of and preference for orienting the vehicle 110 within the vacancy 172 in a similar direction and facing a similar direction as that of both adjacent vehicles 140, 150. As shown here, the vehicle 110 is shown in Figure 5b having performed the defined manoeuvre under the control of the controller, with the start position of Figure 1b shown in broken lines. In alternative examples (not shown), the controller may offer the user an option of an alternate orientation, such as with the vehicle facing forwards out of the vacancy 172, in an opposite direction to that shown.

Figures 5(c), 5(d) and 5(e) show scenarios generally similar to that shown in Figure 1(c). In Figure 5e, three example possible defined manoeuvre completed position with possible orientations are indicated. The user (not shown) is offered selection of the possible defined manoeuvre completed position and possible orientation; and, upon the user’s selection, the defined manoeuvre can be performed to the desired defined manoeuvre completed position, shown in broken lines in Figure 5(e).

Depending on preferences or particular embodiment, the controller may select or offer a default defined manoeuvre and/or orientation, such as indicated in Figure 5c. It will be appreciated that the scenario as depicted in Figure 5(c) now presents a further scenario for a possible defined manoeuvre. For example, a further vehicle (not shown) may now be able to perform a defined manoeuvre into the vacancy 172 between the already-parked vehicle 110 and the left-hand adjacent vehicle 140. It will be appreciated that the performance of the defined manoeuvre to the offset defined manoeuvre completed position as shown in Figure 5(c) has allowed the vacancy of Figures 1(c) and 5(c) to be used for receiving two vehicles, which may not otherwise have been possible (e.g. as shown in Figure 5(d)).

Once in the defined manoeuvre completed position, being parked positions in each of Figures 5(a), 5(b), 5(c) 5(d), and 5(e) the user 195 typically applies a parking brake, to leave the vehicle 110 stationary with the engine switched off.

The controller 200 may be arranged to offer and/or select the possible defined manoeuvre completed position with a possible orientation in dependence on the environment signal, such as the properties of the vacancy 172. For example, the controller 200 may be arranged to offer and/or select the possible defined manoeuvre completed position with a possible orientation in dependence on the size of the vacancy 172, the alignment of the adjacent objects 140, 150, or other parameters associated with the vacancy 172. In at least some examples, the available possible defined manoeuvre completed position with a possible orientation may be limited (e.g. by a vacancy 172 comprising dimensions unsuitable for access to/from one or more vehicle openings when oriented to a particular direction). Additionally, or alternatively, the controller 200 may be arranged to offer and/or select the possible defined manoeuvre completed position with a possible orientation in dependence on other parameters, such as one or more of: an ambient environmental condition (e.g. rain, temperature, lightness, darkness, time of day, day of week, etc); a terrain condition (e.g. road surface condition, off-road surface condition, gradient, etc); a location or locations of multiple vehicle occupants (e.g. the location of each vehicle occupant).

The controller 210 may be arranged to allow for user adaptation. For example, the user may be able to at least partially override, program or adjust the controller 210 for one or more of the following: the one or more available possible defined manoeuvre completed positions; the possible orientation or orientations; the one or more inputs for determination of the available possible defined manoeuvre completed position and/or possible orientation; a selection means for selecting the defined manoeuvre completed position and/or possible orientation. The controller 210 may be arranged to be manually overridden, programmed or adjusted, such as to adjust the output of the manoeuvre signal. Additionally, or alternatively, the controller 210 may be arranged to automatically, or semi-automatically, override, program or adjust the output of the manoeuvre signal, such as by learning from a user behaviour, such as a repeated user behaviour, associated with one or more of: an input pattern; a geographic location; a user identity (e.g. where the vehicle 110 is used noncontemporaneously by multiple users). For example, the controller 210 may be arranged to automatically select a default orientation when the occupant 195 is located at a particular location (e.g. relative to the vehicle 110); or when the vehicle 110 is positioned at a particular location, such as a home or garage where the user has previously performed a defined manoeuvre into a known vacancy.

It will be appreciated that other defined manoeuvres than illustrated may be performed. It will be appreciated that the controller 200 may be arranged to allow occupant transitioning between in and out of vehicle locations during the performance of the defined manoeuvre. For example, the controller 200 may be arranged to allow interruption or pausing of the defined manoeuvre, such as to allow the occupant 195 to transition into or out of the vehicle 110 whilst the vehicle 110 is stationary. In at least some examples, the vehicle 110 may have steerable rear wheels; or the vacancy may comprise a fishbone (diagonal) vacancy 172 or a perpendicular vacancy (e.g. with the vehicle 110 parked end on).

As a result of the method 400 the vehicle may be more advantageously positioned or configured following performance of a defined manoeuvre. It will also be appreciated that embodiments of the present invention are not limited to being useful in association with a defined manoeuvre. It may be useful to provide an indication of possible defined manoeuvre completed positions and/or possible orientations for performing a portion of a defined manoeuvre even when parked or when being driven by a human driver.

It will be appreciated that embodiments of the present invention can be realised in the form of hardware, software or a combination of hardware and software. Any such software may be stored in the form of volatile or non-volatile storage such as, for example, a storage device like a ROM, whether erasable or rewritable or not, or in the form of memory such as, for example, RAM, memory chips, device or integrated circuits or on an optically or magnetically readable medium such as, for example, a CD, DVD, magnetic disk or magnetic tape. It will be appreciated that the storage devices and storage media are embodiments of machine-readable storage that are suitable for storing a program or programs that, when executed, implement embodiments of the present invention. Accordingly, embodiments provide a program comprising code for implementing a system or method as claimed in any preceding claim and a machine-readable storage storing such a program. Still further, embodiments of the present invention may be conveyed electronically via any medium such as a communication signal carried over a wired or wireless connection and embodiments suitably encompass the same.

All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and/or all of the steps of any method or process so disclosed, may be combined in any combination, except combinations where at least some of such features and/or steps are mutually exclusive.

Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. Thus, unless expressly stated otherwise, each feature disclosed is one example only of a generic series of equivalent or similar 5 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 10 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

1. A controller comprising:

control means arranged to:

determine the orientation of a defined manoeuvre completed position of the vehicle in dependence on the environment signal; and output means for outputting a possible defined manoeuvre completed position signal in dependence on the determined orientation.

2. The controller of claim 1, wherein the controller comprises a notification output means for outputting a notification signal indicative of the possible defined manoeuvre completed position signal.

3. The controller of claim 1 or 2, wherein the control means is arranged to determine the orientation of the defined manoeuvre completed position in dependence on the environment signal being indicative of an orientation of the at least one feature in the vicinity of the vehicle.

4. The controller of claim 3, wherein the control means is arranged to determine the orientation of the defined manoeuvre completed position to be aligned relative to the at least one feature in the vicinity of the vehicle.

5. The controller of claim 4, wherein the control means is arranged to determine the orientation of the defined manoeuvre completed position to be parallel to the at least one feature in the vicinity of the vehicle.

6. The controller of claim 4, wherein the control means is arranged to determine the orientation of the defined manoeuvre completed position to be perpendicular to the at least one feature in the vicinity of the vehicle.

7. The controller of any of claims 3 to 6, wherein the orientation of the at least one feature in the vicinity of the vehicle comprises the orientation of at least one other vehicle in the vicinity of the vehicle.

8. The controller of any preceding claim, wherein the control means is arranged to determine the orientations of a plurality of possible defined manoeuvre completed positions of the vehicle in dependence on the environment signal.

9. The controller of claim 8, wherein the control means is arranged to notify a vehicle user of the orientations of the plurality of possible defined manoeuvre completed positions.

10. The controller of any preceding claim comprising output means for outputting a manoeuvre signal to cause the vehicle to perform a defined manoeuvre to the defined manoeuvre completed position; wherein the control means is arranged to control the output means to output the manoeuvre signal.

11. The controller of any preceding claim, comprising request input means for receiving a request signal indicative of a wired or wirelessly received signal indicative of a user request for vehicle movement.

12. The controller of any preceding claim, wherein the control means is arranged to determine the orientation of the defined manoeuvre completed position in dependence on a location of the vehicle.

13. The controller of any preceding claim, comprising memory means for storing data therein, the control means being arranged to determine the orientation of the defined manoeuvre completed position in dependence on the data.

14. A system comprising:

the controller of any preceding claim, arranged to output the possible defined manoeuvre completed position signal; and notification output means for notifying the vehicle user of the possible defined manoeuvre completed position.

15. The system of claim 14, comprising environment sensing means for determining the location of the at least one feature in the vicinity of the vehicle and for outputting the environment signal.

16. The system of either of claims 14 or 15, comprising receiver means for wirelessly receiving a signal from a mobile device indicative of a user request and outputting a request signal in dependence thereon.

17. The system of any of claims 14 to 16, wherein the notification output means is arranged to output a notification signal for the visual and/or audio notification indicative of the possible defined manoeuvre completed position.

18. A method of determining an orientation of a defined manoeuvre completed position of a vehicle, the method comprising:

receiving an environment signal indicative of a location of at least one feature in a vicinity of the vehicle;

19. The method of claim 18, comprising outputting a notification signal indicative of the possible defined manoeuvre completed position signal.

20. The method of claim 18 or 19, comprising determining with the control means the orientation of the defined manoeuvre completed position in dependence on the environment signal being indicative of an orientation of the at least one feature in the vicinity of the vehicle.

21. The method of any of claims 18 to 20, comprising determining the orientation of the defined manoeuvre completed position to be aligned relative to the at least one feature in the vicinity of the vehicle.

22. The method of claim 21, wherein the at least one feature in the vicinity of the vehicle comprises at least one other vehicle in the vicinity of the vehicle.

23. The method of any of claims 18 to 22, comprising determining the orientations of a plurality of possible defined manoeuvre completed positions of the vehicle in dependence on the environment signal; and notifying a vehicle user of the orientations of the plurality of possible defined manoeuvre completed positions.

24. A vehicle comprising a controller according to any of claims 1 to 14, a system according to any of claims 15 to 17 or arranged to perform a method according to any of claims 18 to 23.

25. Computer software which, when executed by a processing means, is arranged to perform a method according to any of claims 18 to 23, optionally where stored on a computer readable non-transitory medium.