GB2576483A

GB2576483A - Apparatus and method for controlling vehicle movement

Info

Publication number: GB2576483A
Application number: GB1808911.0A
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: 2020-02-26
Also published as: GB201808911D0

Abstract

A controller 200 comprising control means 210, memory means 220, input means 23 and output means 240 for outputting a manoeuvre signal to cause a vehicle to perform a defined manoeuvre, such as automatous parking. The control means 210 controls the output means 240 to output the manoeuvre signal and to provide a mode for performing a portion of the defined manoeuvre. The mode being selectable from a plurality of modes including a mode corresponding to an occupant-in-vehicle mode and a mode corresponding to an occupant-out-of-vehicle mode, the control means 210 being arranged to vary the mode during the defined manoeuvre. If the control means 210 determines that an occupant (195, fig 5a) will have difficultly exiting the vehicle, only a portion of the parking manoeuvre is completed allowing the occupant to exit the vehicle. Once the occupant leaves the vehicle they may use a mobile device (390) to output a request to the control means 210 to continue the parking manoeuvre. Alternatively the control means 210 may automatically continue the parking manoeuvre. Reference is also made to a method, a system and computer software.

Description

APPARATUS AND METHOD FOR CONTROLLING VEHICLE MOVEMENT

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TECHNICAL FIELD

The present disclosure relates to controlling movement of a vehicle and particularly, but not 5 exclusively, to controlling performance of a defined manoeuvre by 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.

Environment sensing means of the vehicle are used to determine a location of features in a 15 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 20 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. Once the vehicle has reached a completed parked position, the vehicle is switched off, typically with a parking brake applied.

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. Alternatively the vehicle may be instructed to perform the manoeuvre with the user in the vehicle.

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 35 vehicle and computer software as claimed in the appended claims.

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According to an aspect of the invention, there is provided a controller arranged to operably cause a vehicle to perform a defined manoeuvre in a mode corresponding to an occupant-invehicle mode or a mode corresponding to an occupant-out-of-vehicle mode, the mode being variable during the defined manoeuvre.

According to an aspect of the invention, there is provided a controller comprising: output means for outputting a manoeuvre signal to cause a vehicle to perform a defined manoeuvre; and control means arranged to control the output means, the control means being arranged to provide a mode for performing at least a portion of the defined 10 manoeuvre, the mode being selectable from a plurality of modes including at least one mode corresponding to an occupant-in-vehicle mode and at least one mode corresponding to an occupant-out-of-vehicle mode, the control means being arranged to vary the mode during the defined manoeuvre. Advantageously, the defined manoeuvre can be performed with a plurality of modes, the mode changing during the manoeuvre, such as to suit a user.

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 20 processing devices.

The defined manoeuvre may comprise a parking manoeuvre. The parking manoeuvre may comprise an in-parking 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 25 space from a stationary position. A defined manoeuvre completed position may comprise a parked position.

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

The input means may be for receiving a request signal indicative of a mode selection.

The control means may be arranged for the mode to be selectable in dependence on a location of a vehicle occupant. Advantageously only one or more modes appropriate or best35 suited for locations of the vehicle occupant may be selectable.

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The control means may be arranged to control the mode in dependence on the vehicle occupant location transitioning between an in-vehicle location and an out of vehicle location. Advantageously the mode may be changed by the occupant moving into or out of the vehicle.

The controller may be arranged to receive an input indicative of the location and/or status of the one or more occupants, such as via a latch (e.g. a seat belt buckle), or location detection of keyfob or the like, or Driver Condition Recognition.

The controller may comprise an environment input means for receiving an environment signal indicative of a location of one or more features in a vicinity of the vehicle, wherein the control means is arranged for the mode to be selectable in dependence upon the environment signal being indicative of a vehicle envelope suitable for the mode. Advantageously, only the mode or modes appropriate or best-suited for the vehicle envelope 15 may be selectable.

The user may comprise the occupant. The user may comprise a driver of the vehicle. The user may be located in the vehicle. The user may be located out of the vehicle, such as for at least a portion of performance of the defined manoeuvre. The vehicle may comprise one 20 or more non-driver occupants. In at least some examples, one or more users and/or occupants may be located in and/or out of the vehicle.

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 25 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 30 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 35 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

08 18 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 5 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 10 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 15 vacancy, each vehicle envelope comprising a discrete defined manoeuvre completed position that is offset within the vacancy.

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

The two vehicle envelopes may extend in respective longitudinal directions adjacent and parallel each other. Alternatively, the two 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 25 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.

According to an aspect of the invention, there is provided a system, comprising: the 30 controller as described above, arranged to output the manoeuvre signal; and actuator means for receiving the manoeuvre signal to cause the vehicle to perform the defined manoeuvre.

The system may comprise receiver means for receiving a signal indicative of a user request 35 for vehicle movement and outputting a request signal in dependence thereon. The signal indicative of the user request may be wiredly or wirelessly received. The controller may be arranged to receive an input indicative of the location and/or status of the one or more

08 18 occupants, such as via a latch (e.g. a seat belt buckle), or location detection of keyfob or the like, or Driver Condition Recognition.

The controller may be arranged to control the provision of modes in dependence on a 5 location of a vehicle occupant.

The system may comprise environment sensing means for determining the location of one or more features in the vicinity of the vehicle.

According to an aspect of the invention, there is provided a method of controlling movement of a vehicle to perform a defined manoeuvre, the method comprising: providing a mode for performing at least a portion of the defined manoeuvre, the mode being selectable from a plurality of modes including at least one mode corresponding to an occupant-in-vehicle mode and at least one mode corresponding to an occupant-out-of-vehicle mode; outputting a manoeuvre signal to cause the vehicle to perform at least a portion of the defined manoeuvre in a selected mode; and varying the mode during the performance of the defined manoeuvre.

The method may comprise receiving a signal indicative of a user request for vehicle 20 movement and outputting a request signal in dependence thereon.

The method may comprise the user selecting the mode.

The method may comprise automatically selecting a default mode.

The method may comprise automatically selecting the default mode in dependence on the presence of an occupant in the vehicle.

The method may comprise receiving an environment signal indicative of a location of one or 30 more features in a vicinity of the vehicle, and providing the selectable mode in dependence on a feature in the vicinity of the vehicle.

The portion of the defined manoeuvre may comprise one or more of: initiation of the defined manoeuvre; completion of the defined manoeuvre; and the entirety of the defined 35 manoeuvre.

The method may comprise offering selectability of the mode to a user.

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:

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

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;

Figures 5a, 5b, 5c and 5d illustrate movement of a vehicle according to an embodiment of 15 the invention; and

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

DETAILED DESCRIPTION

Figure 1 illustrates a vehicle 110 according to an embodiment of the invention in a scenario. In Figure 1, 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 scenario, the vehicle 110 is shown at a defined manoeuvre start position with a defined manoeuvre completed position of the vehicle 110 shown in broken lines. In the particular scenario shown in Figure 1, 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 Figure 1 the vehicle 110 is shown in broken line at a target or desired defined manoeuvre completed position in a vehicle envelope 174 in the vacancy 172, where the defined manoeuvre would have been performed with the vehicle performing a streetside or parallel parking defined manoeuvre to enter the vacancy 172 with the vehicle 110 moving in a number of consecutive trajectory parts in a forward direction 114 and a rearward direction respectively. 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. As shown here, other features 140, 150 in the form of stationary vehicles bound each opposite longitudinal end of the vacancy 172.

In Figure 1, a dimension of the vehicle, being a width 194 as shown here, is such that the vehicle 110 can be manoeuvred into the apparent vehicle envelope 174 in the vacancy 172, with a corresponding dimension, shown here as a width 176, of the vacancy’s vehicle envelope 174 being sufficient, wider as shown here. Accordingly, the vehicle 110 as such can fit into the vacancy 172, with a clearance, such as indicated by the separation 192 from the vehicle’s moveable projection 182 to the wall feature 125. It will be appreciated that although shown here in plan view, the scenario depicted is three dimensional.

A vehicle occupant 195 is shown located in an in-vehicle location in Figure 1, which may correspond to a driver’s position here. As will be appreciated from the defined manoeuvre completed position illustrated in broken lines in Figure 1, the occupant 195 may have difficulty in exiting the vehicle 110, such as via a vehicle door 188 nearest the occupant 195 as shown in Figure 1. Similarly, if the occupant 195 subsequently returns to the vehicle at a later junction following completion of the defined manoeuvre (e.g. to unpark the vehicle 110), the occupant 195 may have difficulty in entering or accessing the vehicle 110 (e.g. where the feature 125 forms a hindrance to opening the vehicle door 188 adjacent the wall feature 125).

Embodiments of the present invention aim to ameliorate such problems.

It will be understood in the scenario shown in Figure 1 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 Figure 1 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 1 after performing the defined manoeuvre.

To perform the defined manoeuvre, the vehicle 110 comprises environment sensing means for determining a location of features 125 in the vicinity of the vehicle 110. The environment

08 18 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 5 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-to-noise ratio of a sensing device.

In the particular examples shown here, the vehicle 110 comprises a portion of the 10 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 15 invention, such as comprised in the vehicle 110 of Figure 1.

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. The output means 240 may comprise an 20 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. Here, the controller 200 may determine that one or more of the features 125, 140, 150 are such that the defined manoeuvre is performable in one or more modes. For example, where there is no restriction 25 or impediment to access to or from the vehicle 110 (e.g. in an absence of any lateral features such as the wall feature 125 shown in Figure 1), the controller 200 may determine that all modes of performance of the defined manoeuvre are selectable. As shown here, the mode for performing the defined manoeuvre is selectable from a plurality of modes including at least one mode corresponding to an occupant-in-vehicle mode and at least one mode 30 corresponding to an occupant-out-of-vehicle mode. The controller 200 here is arranged for a change in the mode changing during the defined manoeuvre, without terminating or cancelling the defined manoeuvre. Accordingly, the defined manoeuvre can be continued in a different mode of performance.

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 manoeuvre 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 an environment signal. The input means 230 may comprise an electrical input for receiving a request signal. Here, the request signal is indicative of a wirelessly received signal representing a user request for movement of the vehicle 110.

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, 150 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) at least one preference for a mode of performance for one or more scenarios, the memory means can store data corresponding to the preference to provide a default and/or automatic mode in dependence on the input (e.g. environment signal and/or location signal, etc) being indicative of a such or similar scenario for the one or more 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 Figure 1 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 Figure 1. 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 may corroborate the data with another input, such as with 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 one or more features 125, 140).

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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. The user request may be for the performance of the defined 5 manoeuvre in a selected mode.

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 10 manoeuvre to the defined manoeuvre completed position, with the mode of performance being variable during the performance of the portion of the defined manoeuvre.

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 20 the one or more moveable projections 182, such as one or more sensors or cameras 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 a memory. The environment sensing means may comprise one or more sensing devices such as imaging devices, such as 25 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 35 140, 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

08 18 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 5 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 10 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 controller 210 of the system 300 here comprises defined manoeuvre means. The control 15 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 20 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 25 210 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 30 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 35 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

08 18 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 10 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 15 control of the controller 210 may comprise a parking manoeuvre, such as shown in Figure 1 and 1 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 20 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 30 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 35 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.

08 18

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 5 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 10 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. 15 The method 400 will be described with reference to Figures 5(a) to 5(d) as an example which corresponds to the scenario shown in Figure 1.

The method 400 broadly comprises steps of providing 410 at least one mode for performing the defined manoeuvre; performing 420 a portion of the defined manoeuvre in a first mode; 20 varying 430 the mode of performance to a second mode of performance; and completing 440 the defined manoeuvre.

Referring to Figure 4, the illustrated embodiment of the method 400 comprises a step of providing 410 at least one mode for performing the defined manoeuvre. The controller 210 25 determines which mode or modes are appropriate for the performance of the defined manoeuvre and provides at least one mode, optionally offering selection of the mode from a plurality. For example, the controller determines in dependence on the environmental signal and/or the location of the occupant which modes are suitable or best-suited for performing the defined manoeuvre. Either with an automatically-selected default mode or a user30 selected mode, performance of the defined manoeuvre is initiated to perform 420 a portion of the defined manoeuvre. During the performance of the defined manoeuvre, the mode of performance is varied from the first mode. For example, where the occupant transitions between locations in and out of the vehicle, the mode transitions between corresponding modes. As will be appreciated from the broken line 435 of Figure 4, the mode may be varied 35 more than once during the performance of the defined manoeuvre, to perform multiple portions of the defined manoeuvre each with a different mode.

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In Figures 5(a) to 5(d) respectively, the vehicle 110 is illustrated during the performance of the defined manoeuvre from the start position of Figure 1 to the defined manoeuvre completed position of Figure 5(d). Figures 5(a) to 5(d) illustrate sequentially the vehicle performing a defined manoeuvre according to an embodiment of the invention. Figure 5(a) 5 shows the vehicle 110 during a first portion of the defined manoeuvre, performing a first trajectory part of the defined manoeuvre, with the vehicle 110 reversing, moving in a direction opposite to the forward direction 114 of the vehicle 110, towards the vacancy 172. Here, the defined manoeuvre has been initiated in a first mode being an occupant-in-vehicle mode, with the occupant 195 located in the vehicle 110. Figure 5(b) shows a similar position 10 of the vehicle 110 to Figure 5(a) with the occupant 195 having transitioned to an out of vehicle position. Here, the controller 200 has automatically varied the mode of performance to an occupant out-of-vehicle mode. Subsequently, the vehicle 110 continues performance of the defined manoeuvre in a second mode of performance, being an occupant out-ofvehicle mode, to the position of Figure 5(c) and the defined manoeuvre completed position 15 of Figure 5(d).

The controller 200 may be arranged to offer and/or select the different modes of performance 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 one 20 or more modes of performance in dependence on the size of the vacancy 172, the alignment of the adjacent objects 140, 150, or other parameters associated with the vacancy. In at least some examples, the available mode or modes of performance may be limited (e.g. by a vacancy 172 comprising dimensions unsuitable for access to/from one or more vehicle openings). Additionally, or alternatively, the controller 200 may be arranged to offer and/or 25 select the mode or modes of performance 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, such as a location of each vehicle occupant.

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

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 available mode or modes; the one or more inputs for determination of the

08 18 available modes; a selection means for selecting the mode. 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 5 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 mode when the occupant 195 is located at a particular location (e.g. relative to the vehicle 110); or when 10 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. For example, the defined manoeuvre may comprise an unparking manoeuvre from the position 15 of Figure 5(d), such as with the occupant 195 out of the vehicle 110 and initiating the defined manoeuvre in an occupant out-of-vehicle mode, entering the vehicle 110 at an interim juncture of the performance of the defined manoeuvre and continuing the performance of the defined manoeuvre in an occupant-in-vehicle mode. It will be appreciated that the controller 200 may be arranged to allow occupant transitioning between in and out of vehicle locations 20 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 25 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 30 defined manoeuvre. It may be useful to provide a selectable mode for performing a portion of a defined manoeuvre even when parked or when having being driven by a human driver. For example, indicating or displaying which modes of performance are available or suitable may assist a user in selecting a performance of a user-performed manoeuvre.

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

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

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

The invention is not restricted to the details of any foregoing embodiments. The invention extends to any novel one, or any novel combination, of the features disclosed in this specification (including any accompanying claims, abstract and drawings), or to any novel one, or any novel combination, of the steps of any method or process so disclosed. The claims should not be construed to cover merely the foregoing embodiments, but also any embodiments which fall within the scope of the claims.

Claims

1. A controller comprising:

output means for outputting a manoeuvre signal to cause a vehicle to perform a defined manoeuvre; and control means arranged to control the output means, the control means being arranged to provide a mode for performing at least a portion of the defined manoeuvre, the mode being selectable from a plurality of modes including at least one mode corresponding to an occupant-in-vehicle mode and at least one mode corresponding to an occupant-out-of-vehicle mode, the control means being arranged to vary the mode during the defined manoeuvre.

2. The controller of claim 1, comprising an input means for receiving a request signal indicative of a received signal indicative of a user request for vehicle movement.

3. The controller of claim 2, wherein the input means is for receiving a request signal indicative of a mode selection.

4. The controller of any preceding claim, wherein the control means is arranged for the mode to be selectable in dependence on a location of a vehicle occupant.

5. The controller of claim 4, wherein the control means is arranged to control the mode in dependence on the vehicle occupant location transitioning between an in vehicle location and an out of vehicle location.

6. The controller of any preceding claim, comprising an environment input means for receiving an environment signal indicative of a location of one or more features in a vicinity of the vehicle, wherein the control means is arranged for the mode to be selectable in dependence upon the environment signal being indicative of a vehicle envelope suitable for the mode.

7. The controller of any preceding claim, wherein the defined manoeuvre is a parking manoeuvre.

8. A system comprising:

the controller of any preceding claim, arranged to output the manoeuvre signal; and actuator means for receiving the manoeuvre signal to cause the vehicle to perform the defined manoeuvre.

9. The system of claim 8, comprising receiver means for receiving a signal indicative of a user request for vehicle movement and outputting a request signal in dependence thereon.

10. The system of either of claims 8 or 9, wherein the controller is arranged to control the provision of modes in dependence on a location of a vehicle occupant.

11. The system of any of claims 8 to 10, comprising environment sensing means for determining the location of one or more features in the vicinity of the vehicle.

12. A method of controlling movement of a vehicle to perform a defined manoeuvre, the method comprising:

providing a mode for performing at least a portion of the defined manoeuvre, the mode being selectable from a plurality of modes including at least one mode corresponding to an occupant-in-vehicle mode and at least one mode corresponding to an occupant-out-of-vehicle mode;

outputting a manoeuvre signal to cause the vehicle to perform at least a portion of the defined manoeuvre in a selected mode; and varying the mode during the performance of the defined manoeuvre.

13. The method of claim 12, comprising receiving a signal indicative of a user request for vehicle movement and outputting a request signal in dependence thereon.

14. The method of claim 12 or 13, comprising a user selecting the mode.

15. The method of any of claims 12 to 14, comprising automatically selecting a default mode.

16. The method of claim 15, comprising automatically selecting the default mode in dependence on the presence of an occupant in the vehicle.

17. The method of any of claims 12 to 15, comprising receiving an environment signal indicative of a location of one or more features in a vicinity of the vehicle, and providing the selectable mode in dependence on a feature in the vicinity of the vehicle.

18. The method of any of claims 12 to 17, wherein the at least a portion of the defined

5 manoeuvre comprises one or more of: initiation of the defined manoeuvre;

completion of the defined manoeuvre; and the entirety of the defined manoeuvre.

19. The method of any of claims 12 to 18, comprising offering selectability of the mode to a user.

20. A vehicle comprising a controller according to any of claims 1 to 7, a system according to any of claims 8 to 11 or arranged to perform a method according to any of claims 12 to 19.

15

21. Computer software which, when executed by a processing means, is arranged to perform a method according to any of claims 12 to 19.

22. The computer software of claim 21 stored on a computer readable non-transitory medium.