GB2579194A

GB2579194A - Torque modification request

Info

Publication number: GB2579194A
Application number: GB1819046.2A
Authority: GB
Inventors: Kirkman Patrick
Original assignee: Jaguar Land Rover Ltd
Current assignee: Jaguar Land Rover Ltd
Priority date: 2018-11-22
Filing date: 2018-11-22
Publication date: 2020-06-17
Anticipated expiration: 2038-11-22
Also published as: GB2579194B; GB201819046D0

Abstract

The present invention relates to a control system, a method, a vehicle and a non‑transitory computer readable medium for receiving image data indicative of an image forward of the host vehicle 2 captured by an image capture means of the host vehicle. From the image data determining an anticipated reduced friction or surface-drag zone 5 and outputting a torque modification request in dependence on the determination of the anticipated reduced friction or surface-drag zone. The reduced friction of surface drag zone may be for instance a body of water such as a puddle and the torque modification may be a reduction of the torque demanded and the image capture means may be at least one camera. The control system may also utilize a wheel speed sensor that may detect an actual surface friction based on a sudden or unexpected change in wheel speed.

Description

TORQUE MODIFICATION REQUEST

TECHNICAL FIELD

The present disclosure relates to torque modification requests. Aspects of the invention relate to a control system, a method, a vehicle and a non-transitory computer readable medium.

BACKGROUND

It is known that vehicles behave differently under reduced friction or reduced surface-drag conditions than under normal conditions. There remains a need for alternative arrangements for handling such conditions.

It is an aim of the present invention to address one or more of the disadvantages associated

with the prior art.

SUMMARY OF THE INVENTION

Aspects and embodiments of the invention provide a control system, a method, a vehicle and a non-transitory computer readable medium as claimed in the appended claims According to an aspect of the present invention there is provided a control system for a host vehicle, the control system comprising one or more controllers, the control system configured to: receive image data indicative of an image forward of the host vehicle captured by an image capture means of the host vehicle; determine an anticipated reduced friction or surface-drag zone (such as a puddle) in dependence on the received image data; and output a torque modification request in dependence on the determination of the anticipated reduced friction or surface-drag zone.

According to a further aspect of the invention, there is provided a control system for a host vehicle, the control system comprising one or more controllers, wherein the one or more controllers collectively comprise: at last one electronic processor having an electric input for receiving signals; and at least one electronic memory device coupled to the at least on electronic processor and having instructions stored therein; and wherein the at least one electronic processor is configured to access the at least one memory device and execute the instructions thereon so as to cause the host vehicle to receive image data indicative of an image forward of the host vehicle captured by an image capture means of the host vehicle; determine an anticipated reduced friction or surface-drag zone in dependence on the received image data; and output a torque modification request in dependence on the determination of the anticipated reduced friction or surface-drag zone.

According to another aspect of the present invention there is provided a control system for a host vehicle, the control system comprising: means for receiving image data indicative of an image forward of the host vehicle captured by an image capture means of the host vehicle; means for determining an anticipated reduced friction or surface-drag zone in dependence on the received image data; and means for outputting a torque modification request in dependence on the determination of the anticipated reduced friction or surface-drag zone.

According to another aspect of the invention, there is provided a vehicle comprising a control system as set out above.

According to yet another aspect of the invention, there is provided a method comprising: receiving image data indicative of an image forward of the host vehicle captured by an image capture means of the host vehicle; determining an anticipated reduced friction or surface-drag zone in dependence on the received image data; and outputting a torque modification request in dependence on the determination of the anticipated reduced friction or surface-drag zone.

According to a further aspect of the invention, there is provided a computer readable medium (e.g. a non-transitory computer readable medium) comprising computer readable instructions that, when executed by a processor, cause performance of: receiving image data indicative of an image forward of the host vehicle captured by an image capture means of the host vehicle; determining an anticipated reduced friction or surface-drag zone in dependence on the received image data; and outputting a torque modification request in dependence on the determination of the anticipated reduced friction or surface-drag zone.

The likely presence of a reduced friction or surface-drag zone (such as a puddle) may be detected such that action can be taken (e.g. before the host vehicle makes contacted with the detected reduced friction or surface-drag zone).

The torque modification request may be provided in order to modify the torque in an attempt to mitigate at least some of the possible effects of the host vehicle driving through the reduced friction or surface-drag zone.

An actual reduced friction or surface-drag zone may be determined, wherein the torque modification request is generated, at least in part, on the determination of the actual reduced friction or surface-drag zone. By way of example, the control system may be configured to detect a change in a speed of a wheel of the host vehicle, wherein the actual reduced friction or surface-drag zone is determined based on the detection of the change in wheel speed of the host vehicle. The actual reduced friction or surface-drag zone may, for example, be determined based on a sudden or unexpected change in wheel speed of the host vehicle.

The actual reduced friction or surface-drag zone may be determined based on the detection of the change in wheel speed of the host vehicle that is not driven by a braking event of the host vehicle.

The torque modification request may include an initial torque modification request in response to the determination of the anticipated reduced friction or surface-drag zone and a second torque modification request in response to the determination of the actual reduced friction or surface-drag zone.

In an embodiment, the torque modification request comprises a torque reduction request.

The torque modification request may include a request to reduce a positive torque demand of the host vehicle and/or a request to reduce a negative torque demand of the host vehicle. For example, the torque modification request may reduce a torque demand for the host vehicle towards zero.

The control system may be configured to output the torque modification request to a further vehicle system, wherein the further vehicle system uses the torque modification request to modify the vehicle torque.

The host vehicle may be operable in at least one of an autonomous and a non-autonomous 30 mode.

The said image capture means may comprise one or more cameras (such as a forward facing camera of the host vehicle).

The anticipated reduced friction or surface-drag zone may be determined based, at least in part, on information received from one or more sources external to the host vehicle. Thus, for example, information from other vehicles and/or other external sources may be used.

Such external sources may be able to provide real-time data, such as road condition, traffic, weather and other data. Such data may be provided for an anticipated route and/or destination of the host vehicle.

Determining an anticipated reduced friction or surface-drag may zone include determining that the host vehicle is projected to contact said reduced friction or surface-drag zone (e.g. that the reduced friction or surface-drag zone and the host vehicle are in the same lane of a road). This may prevent unnecessary torque modification from taking place.

Determining the anticipated reduced friction or surface-drag zone may comprise at least one of determining a flat point, determining a reflection pattern, determining a colour pattern, determining an area of increased brightness and determining changes in contrast, indicative of a reduced friction or surface-drag zone.

The reduced friction or surface-drag zone may comprise at least one of water, ice and other liquids.

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 schematic drawings, in which: Figure 1 shows a schematic representation of an example use of the principles of the invention; Figure 2 shows a schematic representation of a vehicle including a plurality of sensors in accordance with an example embodiment; Figure 3 shows a flow chart illustrating an algorithm in accordance with embodiment of the invention; Figure 4 shows a schematic representation of an example use of the principles of the invention; Figure 5 shows a schematic block diagram of a system in accordance with an embodiment of the invention; Figure 6 shows a flow chart illustrating an algorithm in accordance with embodiment of the invention; Figure 7 shows a vehicle in accordance with an embodiment of the invention; Figure 8 is a block diagram of components of a system in accordance with an embodiment of the invention; and Figure 9 is a block diagram of a system in accordance with an embodiment of the invention.

DETAILED DESCRIPTION

Figure 1 shows a schematic representation, indicated generally by the reference numeral 1, of an example use of the principles of the invention. The representation 1 includes a vehicle 2 moving along a first lane 3 of a road 4. A puddle 5 is located within the first lane 3. The vehicle 2 is projected to drive through the puddle 5.

The puddle (e.g. a water puddle) 5 is an example of a reduced friction or reduced surface-drag zone. Other examples include ice, oil and other liquids (such as streams) that might be present on the road. When the vehicle 2 drives through the puddle 5, the friction between the vehicle 2 and the road 4 may be reduced, thereby altering the handling of the vehicle 2. Other examples of reduced friction or reduced surface-drag zones will be apparent to those skilled in the art.

Many vehicles, similar to vehicle 2, comprise a plurality of sensors that can detect conditions surrounding the vehicle. For example, as discussed in detail below, the likely presence of the puddle 5 can be detected by the vehicle 2 such that action can be taken (for example, before the vehicle 2 makes contact with the puddle 5).

Figure 2 shows a schematic representation, indicated generally by the reference numeral 10, of vehicle 2, including a plurality of sensors in accordance with an example embodiment.

Vehicle 2 comprises a plurality of parking distance control sensors (PDCs) 12 at the front of the vehicle 2, a plurality of PDCs 13 at the rear of the vehicle 2, a forward facing camera 14, a backward facing camera 15, a plurality of surrounding cameras 16, a plurality of radar devices 17, and a plurality of Lidars 18. The plurality of surrounding cameras 16 are placed around the vehicle 2 on all sides of the vehicle 2. The plurality of radar devices 17 may include long range radars (illustrated by solid rectangles in the front and back of the vehicle 2), side radars (illustrated by striped circles on the sides of the vehicle 2), front radars, rear radars, and corner radars (illustrated by striped rectangles on the corners of the vehicle 2). The plurality of Lidars 18 may include front and rear Lidars (illustrated by cross patterned rectangles) and corner Lidars (illustrated by dotted rectangles).

It will be apparent to the skilled person that the sensors shown in Figure 2 are examples only. More or fewer of the example sensors may be provided. Moreover, other types of sensors (not shown in Figure 2) may also be provided instead of, or in addition to, some or all of the sensors shown.

The plurality of sensors shown in Figure 2 may be used for increasing autonomy of the vehicle 2. The vehicle 2 may therefore be an autonomous vehicle (e.g. a driverless autonomous vehicle).

Vehicles, such as cars, are becoming increasingly autonomous. The provision of multiple sensor devices, as shown in Figure 2, is a part of enabling either fully or partially autonomous driving.

Vehicle autonomy can be described as having a number of different levels. The levels of autonomy may be defined as follows: * Level 0: driver-only driving.

* Level 1: driver assistance, in which a computer-controlled system may assist with certain tasks, such as acceleration or steering, in specific modes of operation.

* Level 2: partial automation, in which a computer-controlled system controls both steering and acceleration in specific modes of operation (such as automatic parking modes).

* Level 3: high automation, in which a computer-controlled system performs all aspect of driving, with the expectation that a human driver will respond to a request to intervene when required. Thus, the human driver must be ready to intervene at all times.

* Level 4: full automation, in which the computer-controlled system performs all aspects of the driving task in a defined use case (such as highway driving or parking scenarios). The human driver will not be required to intervene during such defined use cases.

* Level 5: autonomous driving, in which the computer-controlled system performs all driving tasks under all condition. The human driver will not be required to intervene at any time.

As the level of automation increases, the number of sensors is likely to increase. Moreover, the level of understanding of, and confidence in, the sensor data is likely to be required to 15 increase.

Figure 3 shows a flow chart illustrating an algorithm, indicated generally by the reference numeral 20, in accordance with an embodiment of the invention. The algorithm 20 starts at step 22, where a puddle, such as the puddle 5 is detected. The step 22 may be implemented by a plurality of sensors comprised in a vehicle, such as the vehicle 2 described above. In response to the detection of the puddle 5, the algorithm 20 moves to step 24 where torque of the vehicle 2 is modified. As discussed further below, the torque may be modified in an attempt to mitigate at least some of the possible effects of the vehicle 2 driving through the puddle 5.

Figure 4 shows a schematic representation, indicated generally by the reference numeral 30, of an example use of the principles of the invention. The representation 30 comprises the vehicle 2, lane 3 and puddle 5 described above and additionally comprises a camera field of view 32 and road markings 34. The representation 30 includes the vehicle 2 moving along the first lane 3 of the road 4. The puddle 5 is located within the first lane 3, and the vehicle 2 is projected to drive through the puddle 5. A forward facing camera, such as forward facing camera 14, may have the field of view 32, and may detect the road markings 34. The plurality of sensors (including, for example, the forward facing camera 14) comprised in the vehicle 2 may be used for detecting that the puddle 5 is ahead. The puddle 5 may have reduced friction and/or surface-drag.

Figure 5 shows a schematic block diagram of a system, indicated generally by the reference numeral 40, in accordance with an embodiment of the invention. System 40 comprises module 42 for determining anticipated friction or drag (based, for example, on image data), module 44 for determining changes in wheel speed, and module 46 for generating torque modification request(s). Image data and/or other sensor data is provided to module 42 as an input. The image data may be obtained, for example, from the forward facing camera 14 described above. The module 42 may determine whether there is any anticipated reduced friction or surface-drag zone in front of the vehicle 2 based on the image data. The anticipated reduced friction or surface-drag zone may be determined based on one or more factors of the image data, including a flat point, reflection pattern or colour pattern indicative of a reduced friction or surface-drag zone, such as an area of increased brightness and changes in contrast. The module 44 detects any changes in wheel speed. A sudden or unexpected change in the wheel speed may, for example, be indicative of the presence of an actual reduced friction or surface-drag zone. The presence of an actual reduced friction or surface-drag zone may be caused by the vehicle 2 driving through the puddle 5. Based on inputs from modules 42 and 44, module 46 may output one or more torque modification requests.

In one example embodiment, an anticipated reduced friction or surface-drag zone may be determined based on whether the vehicle 2 is projected to contact any detected reduced friction or surface-drag zone. For example, a puddle may be detected in front of vehicle 2, but the vehicle 2 may only be affected by the puddle if the puddle is in the same driving lane, such as lane 3, as the vehicle 2.

In one example (such as the example system 240 described below with reference to Figure 9), the image data used for determining anticipated reduced friction or drag zone comprises information received from one or more sources external to the vehicle 2. For example, an electronic horizon (e-Horizon) system may be used for obtaining real-time data. The data may include traffic and weather information for an anticipated route and/or destination of vehicle 2. For example, data from a wiper setting can be used to indicate whether or not it may be raining. As such, information from the one or more external sources may be useful in determining whether or not there is an anticipated reduced friction or surface-drag zone at any point in front of the vehicle 2. It will be appreciated that many other types of information may be received from the one or more external sources, and may be utilized as image data for determining an anticipated reduced friction or drag zone.

In one example embodiment, module 44 sends an output indicating that torque modification may be required if there is a sudden or unexpected change in wheel speed. When the rate of change of wheel speed is higher than a first threshold, it may be determined that there is a sudden or unexpected change in the wheel speed, which may indicate the presence of an actual reduced friction or surface-drag zone. Alternatively, or in addition, it may be determined that there is a sudden or unexpected change in wheel speed when the change in wheel speed is not caused by a braking event of the vehicle 2.

Figure 6 shows a flow chart illustrating an algorithm, indicated generally by the reference numeral 50, in accordance with an embodiment of the invention. Figure 6 may be viewed in conjunction with Figure 4 for better readability. At step 52, forward image data is obtained (for example, from the forward facing camera 14 of the plurality of sensors of vehicle 2 and/or from external sources). The forward image data may comprise image data contained in the field of view 32. Thus, the step 52 may receive image data indicative of an image forward of a host vehicle captured by an image capturing device (such as one or more cameras) of the host vehicle.

At step 54, it is determined (in dependence on the image data obtained in the step 52) whether there is an anticipated reduced friction or surface-drag zone. If there is no anticipated reduced friction or surface-drag zone, the algorithm ends in step 64. As the puddle 5 is in front of vehicle 2 in the direction of travel, it may be determined at step 54 that there is an anticipated friction or surface-drag zone, and as a result, the torque of vehicle 2 may be modified at step 56.

The step 54 may include determining that the host vehicle is projected to contact said reduced friction or surface-drag zone (e.g. that the reduced friction or surface-drag zone is in a lane in which the host vehicle is travelling).

The step 54 may include determining an anticipated reduced friction or surface-drag zone by performing at least one of: determining a flat point; determining a reflection pattern; determining a colour pattern; determining an area of increased brightness and determining changes in contrast indicated of a reduced friction or surface-drag zone. The skilled person will be aware of other indications of a reduced friction or surface-drag zone that could be determined instead of, or in addition to, one or more of the indications listed above.

The torque may be modified in step 56 in response to a first torque modification request that is generated if an anticipated friction or surface-drag zone is determined (in the step 54). The vehicle 2 then proceeds, and may drive over the puddle 5. If the vehicle 2 drives over the puddle 5, there is a chance that the wheel speed may change due to reduced friction or surface-drag. After modification of the torque, it is determined whether any change in the wheel speed is detected in step 58. The detection of a change in the wheel speed (in step 58) may be used to determine an actual reduced friction or surface-drag zone. If such a change in wheel speed is not detected, the algorithm ends in step 64. If such a change in wheel speed, such as a sudden or unexpected change, is detected, the torque may be further modified in step 62. The torque may be modified in step 62 in response to a second torque modification request. The algorithm ends at step 64.

The step 58 may be configured to detect a change in wheel speed of a host vehicle. The step 58 may be configured to detect a sudden or unexpected change in wheel speed of the host vehicle. The step 58 may be configured to detect a change in wheel speed of the host vehicle that is not driven by a braking event of the host vehicle.

In one example embodiment, in steps 56 and 62, the torque is modified by reducing the torque of vehicle 2. Thus, the first and/or second torque modification requests may cause the torque to be reduced in steps 56 and/or 62 respectively. For example, the first torque modification request and/or the second torque modification request may be a torque reduction request. When an anticipated reduced friction or surface-drag zone is detected, the first torque modification request may cause the torque to be reduced, and when the actual reduced friction or surface-drag is detected, the second torque modification request may cause the torque to be further reduced. In another example, the torque modification request(s) is a request to reduce a positive torque demand. In response to the torque modification request(s), the positive torque demand is reduced, and therefore, the torque is prevented from increasing. The torque modification request(s) may additionally or alternatively be a request to reduce a negative torque demand. In one example, the torque modification request(s) causes the torque demand (positive torque demand and/or negative torque demand) to be reduced towards zero.

In one example embodiment, the first and/or second torque modification requests may cause the torque to remain the same and prevent the torque from increasing. In another example embodiment, when an anticipated reduced friction or surface-drag zone is detected in step 54, the first torque modification request prevents the torque from increasing in step 56, such that the torque may remain the same. When a change in wheel speed is detected in step 58, and an actual reduced friction or surface-drag zone is determined, the second torque modification request causes the torque to be reduced in step 62.

In one example embodiment, the torque modification requests are generated and provided to a further vehicle system of vehicle 2. It will be appreciated that vehicle 2 may comprise various control systems for performing various functions of the vehicle 2. The torque modification requests may be generated by module 46, as discussed earlier. Module 46 may provide the torque modification requests to a torque control system, which may then modify the torque of vehicle 2 accordingly.

A vehicle 100 in accordance with an embodiment of the present invention is described herein with reference to the accompanying Figure 7. Vehicle 100 may be similar to vehicle 2, such that the methods of algorithms 20 and 50 may be performed at vehicle 100.

Figure 8 is a block diagram, indicated generally by the reference numeral 200, of components of a system in accordance with an embodiment of the invention. The system 200 comprises a processor 202, a memory 204 and one or more inputs 206. The memory comprises a ROM 212 and a RAM 214. The processor 202 is connected to each of the other components in order to control the operation thereof. The inputs 206 may include sensor inputs.

The memory 204 may comprise non-volatile memory. The ROM 212 of the memory 214 may store an operating system and software applications. The RAM 214 may be used by the processor 202 for the temporary storage of data. The operating system may contain code which, when executed by the processor, implements aspects of the algorithms 20 and 50 described above.

Figure 9 shows a system, indicated generally by the reference numeral 240, in accordance with an embodiment of the invention. The system 240 includes a first vehicle 242, a second vehicle 243 and a third vehicle 244 moving along the first lane 3 of road 4, similar to the arrangement described above with reference to Figure 1. The system 240 also includes a first server 248 and a second server 249. Any of the first, second and third vehicles 242 to 244 may be in communication with one or both of the first and second servers 248, 249 via a network, indicated schematically by the cloud 246 shown in Figure 9 In the example use of the system 240, it is assumed that the first vehicle 242 is being controlled in accordance with an example embodiment of the invention and that the first vehicle 242 is similar to the vehicle 2 described above. Thus, the first vehicle 242 may comprise a plurality of sensors that can detect conditions surrounding the vehicle and such sensors may be used in control systems for the control of the first vehicle 242.

Local data (including, for example, forward camera data) may be obtained (for example from one more embedded sensors local to the first vehicle 242. Alternatively, or in addition, external data may be obtained. External data may include data obtained from other vehicles, such as the second and third vehicles 243 and 244, and may include data obtained, for example, from external servers (such as GPS data, HD maps, time of year etc.). The external data may, for example, include road condition data and/or ambient conditions data from the second and third vehicles. The external data may be received from the cloud (e.g. from the first and/or second servers 248, 249). The anticipated reduced friction or surface-drag zone described above may be determined, at least in part, on information from information received from one or more sources external to the host vehicle, such as one or more of the second and third vehicles 243 and 244 and the first and second servers 248 and 249.

It will be appreciated that various changes and modifications can be made to the present invention without departing from the scope of the present application. Moreover, the present specification should be understood to include any novel features or any novel combination of features either explicitly or implicitly disclosed herein or any generalisation thereof.

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 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.

Claims

CLAIMS1. A control system for a host vehicle, the control system comprising one or more controllers, the control system configured to: receive image data indicative of an image forward of the host vehicle captured by an image capture means of the host vehicle; determine an anticipated reduced friction or surface-drag zone in dependence on the received image data; and output a torque modification request in dependence on the determination of the anticipated reduced friction or surface-drag zone.
2. A control system according to claim 1, wherein the one or more controllers collectively comprise: at last one electronic processor having an electric input for receiving signals; and at least one electronic memory device coupled to the at least on electronic processor and having instructions stored therein; and wherein the at least one electronic processor is configured to access the at least one memory device and execute the instructions thereon so as to cause the host vehicle to output the torque modification request.
3. A control system according to claim 1 or claim 2, configured to determine an actual reduced friction or surface-drag zone, wherein the torque modification request is generated, at least in part, on the determination of the actual reduced friction or surface-drag zone.
4. A control system according to claim 3, configured to detect a change in a speed of a wheel of the host vehicle, wherein the actual reduced friction or surface-drag zone is determined based on the detection of the change in wheel speed of the host vehicle.
5. A control system according to claim 4, wherein the actual reduced friction or surface-drag zone is determined based on a sudden or unexpected change in wheel speed of the host vehicle.
6. A control system according to claim 4 or claim 5, wherein the actual reduced friction or surface-drag zone is determined based on the detection of the change in wheel speed of the host vehicle that is not driven by a braking event of the host vehicle.
7. A control system according to any one of claims 3 to 6, wherein the torque modification request includes an initial torque modification request in response to the determination of the anticipated reduced friction or surface-drag zone and a second torque modification request in response to the determination of the actual reduced friction or surface-drag zone.
8. A control system according to any one of the preceding claims, wherein the torque modification request comprises a torque reduction request.
9. A control system according to any one of the preceding claims, wherein the torque modification request includes a request to reduce a positive torque demand of the host vehicle and/or a request to reduce a negative torque demand of the host vehicle.
10. A control system according to any one of the preceding claims, wherein the torque modification request reduces a torque demand for the host vehicle towards zero.
11. A control system as claimed in any one of the preceding claims, configured to output the torque modification request to a further vehicle system, wherein the further vehicle system uses the torque modification request to modify the vehicle torque.
12. A control system as claimed in any one of the preceding claims, wherein the host vehicle is operable in at least one of an autonomous and a non-autonomous mode.
13. A control system as claimed in any one of the preceding claims, wherein the image capture means comprises one or more cameras.
14. A control system as claimed in any one of the preceding claims, wherein the anticipated reduced friction or surface-drag zone is determined based, at least in part, on information received from one or more sources external to the host vehicle.
15. A control system as claimed in any one of the preceding claims, wherein determining an anticipated reduced friction or surface-drag zone includes determining that the host vehicle is projected to contact said reduced friction or surface-drag zone.
16. A control system as claimed in any one of the preceding claims, wherein determining the anticipated reduced friction or surface-drag zone comprises at least one of determining a flat point, determining a reflection pattern, determining a colour pattern, determining an area of increased brightness and determining changes in contrast, indicative of a reduced friction or surface-drag zone.
17. A control system as claimed in any one of the preceding claims, wherein the reduced friction or surface-drag zone comprises water and/or ice.
18. A method comprising: receiving image data indicative of an image forward of the host vehicle captured by an image capture means of the host vehicle; determining an anticipated reduced friction or surface-drag zone in dependence on the received image data; and outputting a torque modification request in dependence on the determination of the anticipated reduced friction or surface-drag zone.
19. A method according to claim 18, comprising determining an actual reduced friction or surface-drag zone, wherein the torque modification request is generated, at least in part, on the determination of the actual reduced friction or surface-drag zone.
20. A method as claimed in claim 19, comprising detecting a change in a speed of a wheel of the vehicle, wherein the actual reduced friction or surface-drag zone is determined based on the detection of the change in wheel speed of the host vehicle.
21. A method according to any one of claims 18 to 20, wherein the torque modification request comprises a torque reduction request. 25
22. A method according to any one of claims 18 to 21, wherein determining the anticipated reduced friction or surface-drag zone comprises at least one of determining a flat point, determining a reflection pattern, determining a colour pattern, determining an area of increased brightness and determining changes in contrast, indicative of a reduced friction or surface-drag zone.
23. A method according to any one of claims 18 to 22, wherein the reduced friction or surface-drag zone comprises a water puddle and/or ice.
24. A vehicle comprising a control system according to any one of claims 1 to 17.
25. A non-transitory computer readable medium comprising computer readable instructions that, when executed by a processor, cause performance of the method of any one of claims 18 to 24.