GB2624461A

GB2624461A - Maintaining adaptive cruise control

Info

Publication number: GB2624461A
Application number: GB2217372.8A
Authority: GB
Inventors: Tzagkas Dimitrios
Original assignee: Jaguar Land Rover Ltd
Current assignee: Jaguar Land Rover Ltd
Priority date: 2022-11-21
Filing date: 2022-11-21
Publication date: 2024-05-22
Also published as: GB202217372D0

Abstract

A control system 200 for a vehicle 10, the control system comprising one or more controllers, wherein the control system is configured to: enable an adaptive cruise control function in dependence on, at least, information from at least one sensor 14 of a first sensor type; determine a degradation in information from the at least one sensor of a first sensor type; and supplement the information from the at least one sensor of a first sensor type with information from at least one sensor 18 of a second, different sensor type in dependence on the determined degradation, to maintain enablement of the adaptive cruise control function. The system may use various sensors including lidar, radar and cameras.

Description

MAINTAINING ADAPTIVE CRUISE CONTROL

TECHNICAL FIELD

The present disclosure relates to maintaining adaptive cruise control functionality. In particular, but not exclusively, it relates to a control system, vehicle, method and computer software for maintaining adaptive cruise control functionality.

BACKGROUND

Adaptive cruise control functionality can be enabled in a vehicle to provide assistance to a driver of the vehicle. However, adaptive cruise control functionality may not be enabled, for example, robustly or intelligently.

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 vehicle, a method, and computer software as claimed in the appended claims.

According to an aspect of the invention there is provided a control system for a vehicle, the control system comprising one or more controllers, wherein the control system is configured to: enable an adaptive cruise control function in dependence on, at least, information from at least one sensor of a first sensor type; determine a degradation in information from the at least one sensor of a first sensor type; and supplement the information from the at least one sensor of a first sensor type with information from at least one sensor of a second, different sensor type in dependence on the determined degradation, to maintain enablement of the adaptive cruise control function.

This provides the advantage that adaptive cruise control function is maintained when information degradation occurs.

In some examples, determining a degradation in information from the at least one sensor of a first sensor type comprises determining an increase in errors associated with information from the at least one sensor of a first sensor type

In some examples:

determining a degradation comprises determining that information from the at least one sensor of a first sensor type has degraded below a limit; and supplementing the information comprises supplementing the information from the at least one sensor of a first sensor type with information from at least one sensor of a second, different sensor type in dependence on determining that information from the at least one sensor of a first sensor type has degraded below a limit.

In some examples:

determining a degradation comprises determining that object tracking of at least one object has been lost; and supplementing the information comprises performing object tracking of at least one object in dependence on the information from the at least one sensor of the second, different sensor type.

In some examples, maintaining enablement of the adaptive cruise control function comprises maintaining enablement of the adaptive cruise control function with modified functionality.

This provides the advantage that safety aspects for the adaptive cruise control function can be maintained in view of the capability of, for example, object tracking in dependence on the information from the at least one sensor of the second, different sensor type.

In some examples, maintaining enablement of the adaptive cruise control function with modified functionality comprises maintaining enablement of the adaptive cruise control function with restricted functionality.

In some examples, maintaining enablement of the adaptive cruise control function with modified functionality comprises reducing a speed limit supported for the adaptive cruise control function.

In some examples, the at least one sensor of a first sensor type comprises at least one radar sensor and/or the at least one sensor of the second, different sensor type comprises at least one camera.

According to a further aspect of the invention there is provided a vehicle comprising a control system as described herein, at least one sensor of a first sensor type and at least one sensor of a second, different sensor type.

According to a further aspect of the invention, there is provided a method of controlling an adaptive cruise control function of a vehicle, the method comprising: enabling an adaptive cruise control function in dependence on, at least, information from at least one sensor of a first sensor type; determining a degradation in information from the at least one sensor of a first sensor type and supplementing the information from the at least one sensor of a first sensor type with information from at least one sensor of a second, different sensor type in dependence on the determined degradation, to maintain enablement of the adaptive cruise control function.

In some examples, determining a degradation in information from the at least one sensor of a first sensor type comprises determining an increase in errors associated with information from the at least one sensor of a first sensor type.

In some examples,

According to a further aspect of the invention there is provided computer software that, when executed, is arranged to perform any one or more of the methods described herein.

In examples, the one or more controllers collectively comprise: at least one electronic processor having an electrical input for receiving information associated with adaptive cruise control; and at least one memory device electrically coupled to the at least one 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 perform and/or cause performance of any one or more methods described herein.

According to a further aspect of the invention there is provided a non-transitory computer readable medium comprising computer readable instructions that, when executed by one or more electronic processors, causes the one or more electronic processors to carry out any one or more of the methods described herein.

Within the scope of this disclosure, 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 falls within the scope of the appended claims. That is, all embodiments and/or features of any embodiment can be combined in any way and/or combination that falls within the scope of the appended claims, 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: FIG. 1 illustrates an example of a vehicle; FIGS. 2A and 2B illustrate an example of a control system and of a non-transitory computer readable storage medium; FIG. 3 illustrates an example of a method; FIG. 4 illustrates an example of degradation of information from a sensor; and FIG. 5 illustrates an example of object tracking loss.

DETAILED DESCRIPTION

FIG. 1 illustrates an example of a vehicle in which embodiments of the invention can be implemented. In some, but not necessarily all examples, the vehicle is a passenger vehicle, also referred to as a passenger car or as an automobile. In other examples, embodiments of the invention can be implemented for other applications, such as commercial vehicles.

FIG. 1 is a front perspective view and illustrates a longitudinal x-axis between the front and rear of the vehicle representing a centreline, an orthogonal lateral y-axis between left and right lateral sides of the vehicle, and a vertical z-axis. A forward/fore direction typically faced by a driver's seat is in the negative x-direction; rearward/aft is +x. A rightward direction as seen from the driver's seat is in the positive y-direction; leftward is -y. These are a first lateral direction and a second lateral direction.

The vehicle 10 comprises a control system 200 comprising one or more controllers 201 (see, for example, FIG. 2A) configured to control, for example, one or more functions and/or features of the vehicle 10.

In the example of Fig. 1, the vehicle 10 comprises at least one sensor 14 of a first sensor type and at least one sensor 18 of a second, different sensor type.

Consequently, FIG. 1 illustrates an example of a vehicle 10 comprising a control system 200 as described herein and at least one sensor 14 of a first sensor type and at least one sensor 18 of a second, different sensor type.

The control system 200 is configured to implement, at least part of, any one or more of the methods described herein.

FIG. 2A illustrates an example control system 200 configured to implement one or more aspects of the invention. The control system 200 of FIG. 2A comprises a controller 201. In other examples, the control system 200 may comprise a plurality of controllers on-board and/or off-board the vehicle 10.

In examples, any suitable control system 200 can be used.

The controller 201 of FIG. 2A includes at least one processor 204 and at least one memory device 206 electrically coupled to the electronic processor 204 and having instructions (e.g. a computer program 208) stored therein, the at least one memory device 206 and the instructions configured to, with the at least one processor 204, cause any one or more of the methods described herein to be performed. The controller 201 may have an interface 202 comprising an electrical input/output I/O 210, 212, or an electrical input 210, or an electrical output 212, for receiving information and interacting with external components.

Fig. 2A therefore illustrates a control system 200, wherein the one or more electronic controllers 201 collective comprise: at least one electronic processor 204 having an electrical input 210 for receiving information associated with adaptive cruise control; and at least one electronic memory device 206 electrically coupled to the at least one electronic processor 204 and having instructions 208 stored therein; and wherein the at least one electronic processor 204 is configured to access the at least one memory device 206 and execute the instructions thereon so as to cause the control system 20 to perform and/or cause performance of any one or more methods described herein.

Also illustrated in the example of FIG. 2A are one or more input devices 214. In examples, the one or more input devices 214 can comprise one or more vehicle systems.

Information 12 can be communicated between the one or more input devices 214 and the control system 200 and/or controller 201. There can be any number of intervening elements between the one or more input devices 214 and the control system 200 (including no intervening elements).

In examples, the input device(s) 214 can comprise any suitable input device(s) 214, for example, any suitable vehicle system(s).

For example, the input device(s) 214 can comprise one or more systems and/or at least one element and/or component of one or more systems involved in adaptive cruise control.

In examples, the input device(s) 214 can comprise any suitable input device(s) 214 from which information can be received that can be used in one or more methods described herein.

In examples, the input device(s) 214 comprise at least one sensor 14 of a first sensor type and at least one sensor 18 of a second, different sensor type.

In examples, sensors of different sensor types can be considered sensors that differ in one or more characteristics.

In examples, sensors of different sensor types can operate in different frequency ranges, including non-overlapping and overlapping frequency ranges.

In examples, sensors of different sensor types can operate over different ranges, including non-overlapping and overlapping ranges.

In examples, sensors of different sensor types can operate on the basis of, and/or in dependence on, different physical principles.

In examples, sensors of different sensor types can be of the same type and produce the same information but which is analysed differently.

Examples of sensors of different sensor types are: radar sensor, ultrasonic sensor, camera, pressure sensor, temperature sensor, microphone, lidar and so on.

In examples, sensors of different sensor types can be considered to provide different sensor modalities. Accordingly, it can be considered that the at least one sensor 14 of a first sensor type provides a first sensor modality and that the at least one sensor 18 of a second, different sensor type provides a second, different sensor modality.

In some examples, the at least one sensor 14 of a first sensor type and the at least one sensor 18 of a second sensor type can have a common sensor modality, but different characteristics within that sensor modality.

For example, the at least one sensor 14 of a first sensor type and the at least one sensor 18 of a second, different sensor type can provide vision sensor modality at different wavelength ranges, including non-overlapping and partially overlapping wavelength ranges.

In some examples, a vision sensor modality is configured to detect electromagnetic radiation. Examples include visual light spectrum cameras, light detection and ranging (LIDAR), radio detection and ranging (RADAR), and near-infrared.

A vision sensor modality can be enabled by a plurality of vision sensors at different positions on the body of the vehicle.

In examples, a radar sensor can be considered a sensor configured to provide radar functionality. A radar sensor can be considered to operate in the radio frequency range, for example in the range 400 MHz to 36 GHz.

In examples, a radar sensor can be considered to operate in the range 76 to 81 GHz.

In examples, a camera can be considered a visual and/or visible light spectrum camera. A camera can be considered to provide information/data to image processors implementing computer vision algorithms.

A camera can be considered to operate in the visible light frequency range, for example in the range 430 to 790 THz.

In some examples, the at least one sensor 14 of a first sensor type comprises at least one radar sensor and/or the at least one sensor 18 of a second, different sensor type comprises at least one camera.

Also illustrated in the example of FIG. 2A are one or more output devices 216.

The one or more output devices 216 can comprise any suitable output device(s) 216 having any suitable form.

For example, the at least one or more output devices 216 can comprise one or more actuators, one or more displays, one or more devices and so on.

In examples, at least one or more output devices 216 can be used to provide information to a user, such as a driver of the vehicle 10.

FIG. 2B illustrates a non-transitory computer-readable storage medium 300 comprising the instructions (computer software).

Accordingly, FIG. 2B illustrates a non-transitory computer readable storage medium 218 comprising computer readable instructions 208 that, when executed by a processor 204, cause performance of at least the method of one or more of FIG. 3 and/or as described herein.

FIG. 3 illustrates an example of a method 300.

The method 300 can be considered a method 300 of enabling an adaptive cruise control function of a vehicle 10.

In examples, the method 300 can be considered a method 300 of maintaining enablement of an adaptive cruise control function of a vehicle 10.

In examples, the method 300 can be considered a method 300 of enhancing and/or improving an adaptive cruise control function of a vehicle 10.

In some examples, the method 300 is performed by the control system 200 of FIGS. 2A, 2B.

That is, in examples, the control system 200 described herein comprises and/or provides means for performing the method 300. However, any suitable means may be used to perform the method 300.

The method 300 can be considered a computer implemented method 300 for a vehicle 10, such as the vehicle 10 of FIG. 1.

One or more of the features discussed in relation to FIG. 3 can be found in one or more of the other figures.

At block 302, method 300 comprises enabling an adaptive cruise control function in dependence on, at least, information 12 from at least one sensor 14 of a first sensor type.

Enabling an adaptive cruise control function in dependence on, at least, information from at least one sensor 14 of a first sensor type can be performed in any suitable way using any suitable method.

In examples, it can be considered that when an adaptive cruise control function of a vehicle 10 is enabled a user of the vehicle, such as a driver, is able to trigger and/or activate and/or use the adaptive cruise control function of the vehicle 10.

In examples, it can be considered that enabling an adaptive cruise control function of a vehicle 10 comprises operating the adaptive cruise control function of the vehicle 10.

In some examples, block 302 can be considered to comprise facilitating an adaptive cruise control function, and/or operating an adaptive cruise control function, and/or supporting an adaptive cruise control function in dependence on, at least, information 12 from at least one sensor 14 of first sensor type.

Accordingly, in examples, an adaptive cruise control function of a vehicle 10 is enabled using information 12 from at least one sensor 14 of a first sensor type. For example, information 12 from at least one sensor 14 of a first sensor type can be processed to enable the adaptive cruise control function of the vehicle 10.

In examples, the at least one sensor 14 of a first sensor type comprises at least one radar sensor.

However, in examples, any suitable sensor or sensors of any suitable type can be used to enable an adaptive cruise control function of the vehicle 10 to be used. For example, any suitable sensor(s) providing a vision sensor modality can be used.

For example, the at least one sensor 14 of a first sensor type can comprise any suitable sensor or sensors of a vehicle 10.

An adaptive cruise control function of a vehicle 10 can be considered a driver assistance feature/system/function that automatically controls the speed of the vehicle 10 when active.

In examples, an adaptive cruise control function of a vehicle 10 can be considered a driver assistance system/feature/function that automatically controls acceleration and braking of the vehicle 10 when active.

In some examples, information from at least one sensor 14 can be considered data from at least one sensor 14 of a first sensor type.

At block 304, method 300 comprises determining a degradation 16 (see FIG. 4 for an example of signal degradation) in information 12 from the at least one sensor 14 of a first sensor type.

As used herein, the term "determining" (and grammatical variants thereof) can include, at least; calculating, computing, processing, deriving, investigating, looking up (for example, looking up in a table, a database or another data structure), ascertaining and the like. Also, "determining" can include receiving (for example, receiving information), accessing (for example, accessing data in a memory) and the like. Also, "determining" can include resolving, selecting, choosing, establishing, and the like.

Determining a degradation 16 in information 12 from the at least one sensor 14 of a first sensor type can be performed in any suitable way using any suitable method.

In some examples, determining a degradation 16 in information 12 from the at least one sensor 14 of a first sensor type comprises determining a reduction in accuracy of the information 12 and/or determining that information 12 is less reliable for enabling an adaptive cruise control function of a vehicle 10.

Accordingly, in some examples, determining a degradation 16 at block 304 comprises determining a reduction in the accuracy and/or reliability of the information 12 from the at least one sensor 14 of a first sensor type.

In some examples, determining a degradation 16 at block 304 comprises receiving at least one sensor degradation indication, and/or value, and/or parameter and so on.

A degradation parameter can be considered a parameter that is determined/calculated in dependence on one or more different factors such as range reduction, signal corruption, and/or interference detection and so on.

A degradation 16 in information 12 from the at least one sensor 14 of a first sensor type can result from any suitable cause or causes, such as any suitable factor or factors.

In examples, a degradation 16 in information 12 from the at least one sensor 14 of a first sensor type can be caused by one or more environmental factors. That is, in examples, the environment of the vehicle 10 can cause a degradation 16 in the information 12 from the at least one sensor 14 of a first sensor type.

In examples, distortion and/or absorption of signals used by the at least one sensor 14 of a first sensor type can cause a degradation 16 in information 12 from the at least one sensor 14.

For example, distortion and/or absorption of signals used by at least one radar sensor can cause a degradation 16 in information 12 from the at least one radar sensor.

For example, snow and/or ice accumulation on the at least one sensor 12, and/or rain spray, and/or mud, and/or tunnels, and/or roadworks can cause and/or result in a degradation 16 in information 12 from the at least one sensor 14 of a first sensor type, such as at least one radar sensor.

In some examples, determining a degradation 16 in information 12 from the at least one sensor 14 of a first sensor type comprises determining an increase in errors associated with information 12 from the at least one sensor 14 of a first sensor type.

An increase in errors associated with information 12 from the at least one sensor 14 of a first sensor type can be determined by an analysis of the signal(s) received in regards of accuracy, and/or integrity, and/or corruption, and/or increased noise, and/or decreased Signal-to-NoiseRatio (SNR) from, for example, a signal processing stage or signal analysis stage in the radar.

In some examples, determining a degradation 16 comprises determining that information 12 from the at least one sensor 14 of a first sensor type has degraded below a limit 20 (again see FIG. 4 for an example).

In examples, determining that information 12 from the at least one sensor 14 of a first sensor type has degraded below a limit 20 can be performed in any suitable way using any suitable method.

For example, determining that information 12 from at least one sensor 14 of a first sensor type has degraded below a limit 20 can comprise determining that errors associated with the information have reached a limit.

For example, determining that information 12 from at least one sensor 14 of a first sensor type has degraded below a limit 20 can comprise determining that a sensor degradation indicator, and/or value, and/or parameter has reached a limit 20.

That is, in examples, determining that information 12 from the at least one sensor 14 of a first sensor type has degraded below a limit 20 comprises determining that at least one indicator, and/or value, and/or parameter indicative of degradation in information from the at least one sensor 14 has reached and/or passed a limit.

By way of example, reference is made to the example of FIG. 4.

FIG. 4 illustrates an example of degradation of information from a sensor.

In the example of FIG. 4, an example plot of degradation 16 of the information 12 for at least one sensor over time is shown.

In the example of FIG. 4, a parameter indicative of degradation 16 of the information 12 is shown on the y axis 402 and time is shown on the x axis 404, increasing in the direction indicated by the arrows of the axes.

In the example of FIG. 4, a larger value of the parameter on the y axis indicates better and/or more reliable data. In the illustrated example, the parameter value runs from a value of '1' at line 406 to a value of '0' at the x axis 404.

For example, with regard to at least one radar sensor, the parameter can be indicative of radar absorption/distortion with a higher value of a parameter indicating less radar absorption/distortion.

In the example of FIG. 4, the line 408 illustrates degradation of the information 12 from the at least one sensor 14 over time.

Also illustrated in the example of FIG. 4 is a limit 20 for degradation of the information 12, in the form of a horizontal line dashed line.

It can be seen in the example of FIG. 4, that in the time period indicated by reference numeral 420, the degradation 16 in the information remains above the limit 20.

However, in the time periods marked 422 and 424 the degradation 16 has passed the limit 20.

The example of FIG. 4 will be further discussed in relation to block 306 of method 300.

Returning to the example of FIG. 3, in examples, any suitable limit 20 can be used.

For example, any suitable limit 20 can be used in dependence on maintaining the adaptive cruise control function of the vehicle 10.

For example, the limit 20 can be chosen at a value where, without the inventive method described herein, adaptive cruise control functionality would be disabled.

In some examples, determining a degradation 16 comprises determining that object tracking of at least one object has been lost.

Determining that object tracking of at least one object has been lost can be performed in any suitable way using any suitable method.

For example, it can be determined that object tracking has been lost when the track of an object has not been updated for a current frame and a number of historic/previous frames.

In some examples, at each frame of the radar processing the object track is updated as 'live' or 'historic' track. If a track of an object is not updated as live' for a number of frames, then it can be considered as historic' track, which can mean that object tracking of that object is lost.

In examples, object tracking can be considered tracking and/or monitoring, at least, a position of one or more objects in the vicinity and/or the environment of the vehicle 10.

For example, object tracking can comprises determining and/or monitoring and/or tracking one or more vehicles in front of the vehicle 10.

By way of example, reference is made to FIG. 5. FIG. 5 illustrates an example of object tracking loss.

In the example of FIG. 5, an example of a plot indicative of object tracking of an object in the vicinity of the vehicle 10 is illustrated.

In the illustrated example, the plot is indicative of object tracking of a vehicle in front of the vehicle 10.

On the y axis 502 of the example of FIG. 5 a parameter indicative of object tracking of the vehicle is represented and on the x axis 504 time is represented, increasing in the direction indicated by the arrows of the axes.

In examples, the y-axis on the plot can be at least one attribute of the object track. For example, the y-axis on the plot can be: the range/distance that the object is detected at; the speed/velocity that is determined for the object; the measured lateral distance; and/or the 'live' track indicator.

It can be seen, from the example of FIG. 5, that there are two time portions, indicated by the dashed ellipses 510 and 512, in which the line 508 representing the object tracking of the vehicle drops, and therefore in which object tracking of the vehicle is lost.

The example of FIG. Swill be discussed further in relation to block 306.

At block 306, method 300 comprises supplementing the information 12 from the at least one sensor 14 of a first sensor type with information 12 from at least one sensor 18 of a second, different sensor type in dependence on the determined degradation 16, to maintain enablement of the adaptive cruise control function.

Consequently, FIG. 3 illustrates a method 300 comprising: enabling an adaptive cruise control function in dependence on, at least, information 12 from at least one sensor 14 of a first sensor type; determining a degradation 16 in the information 12 from the at least one sensor 14 of a first sensor type; and supplementing the information 12 from the at least one sensor 14 of a first sensor type with information 12 from at least one sensor 18 of a second, different sensor type in dependence on the determined degradation 16, to maintain enablement of the adaptive cruise control function.

Accordingly, in examples, information 12 from at least one sensor 18 of a second, different sensor type is used to maintain enablement of the adaptive cruise control function where, otherwise, the adaptive cruise control functionality would be lost.

In examples, supplementing the information 12 from the at least one sensor 14 of a first sensor type with information 12 from at least one sensor 18 of a second, different sensor type at block 306 can be performed in any suitable way using any suitable method.

For example, supplementing the information 12 from the at least one sensor 14 of a first sensor type can comprise augmenting, and/or combining, and/or supporting, and/or fusing, and/or enhancing, and/or complementing the information 12 with information 12 from at least one sensor 18 of a second, different sensor type.

In examples, supplementing the information 12 at block 306 can comprise supplementing the information 12 from the at least one sensor 14 of a first sensor type with information 12 from at least one sensor 18 of a second, different sensor type in dependence on the determined degradation, to prevent disablement of the adaptive cruise control function of the vehicle 10.

Accordingly, in examples, the information 12 from the at least one sensor 18 of a second, different sensor type can be used in any suitable way to support, and/or maintain enablement of the adaptive cruise control function when the information 12 from the at least one sensor 14 of the first sensor type has degraded.

In examples, the at least one sensor 18 of a second, different sensor type can comprise any suitable sensor or sensors.

In examples, the at least one sensor 14 of a first sensor type comprises at least one camera.

However, in examples, any suitable sensor or sensors of any suitable type can be used to maintain enablement of an adaptive cruise control function of the vehicle 10.

For example, any suitable sensor(s) providing a vision sensor modality can be used.

In examples, any suitable camera or cameras of the vehicle can be used. For example, any suitable camera of the vehicle 10 configured to provide and/or produce image data of the environment of the vehicle 10 can be used.

Accordingly, in some examples, the at least one sensor 14 of a first sensor type comprises at least one radar sensor and/or the at least one sensor 18 of the second, different sensor type comprises at least one camera.

10 15 20 25 In examples, maintaining enablement of the adaptive cruise control function can be considered to comprise keeping the adaptive cruise control function accessible and/or active and/or functional and/or usable in some form.

In some examples, determining a degradation 16 comprises determining that information 12 from the at least one sensor 14 of a first sensor type has degraded below a limit 20, and supplementing the information 12 comprises supplementing the information 12 from the at least one sensor 14 from a first sensor type with information 12 from at least one sensor 18 of a second, different sensor type in dependence on determining that information 12 from the at least one sensor 14 of a first sensor type has degraded below a limit 20.

By way of example, reference is again made to the example of FIG. 4.

In the example of FIG. 4, when the degradation parameter indicated by line 408 is above the limit 20, the adaptive cruise control function can operate in dependence on information 12 from the at least one sensor 14 of a first sensor type. For example, the adaptive cruise control function can operate in dependence on radar data from one or more radar sensors.

This is indicated by the area marked 412 in the example of FIG. 4.

However, when line 408 passes below limit 20, indicating that the information 12 from the at least one sensor 14 of a first sensor type has degraded below a limit 20, the information 12 from the at least one sensor 14 of a first sensor type can be supplemented with information 12 from at least one sensor 18 of a second, different sensor type.

In the example of FIG. 4, when line 408 passes the horizontal line indicated by reference numeral 410 in the illustrated example, the information 12 from the at least one first sensor 14 has degraded to a point where the information 12 from the at least one sensor 14 is no longer usable. This is indicated by the area 418 in the example of FIG. 4.

Returning back to the example of FIG. 3, in some examples determining a degradation 16 comprises determining that object tracking of at least one object has been lost and supplementing the information comprises performing object tracking of at least one object in dependence on the information 12 from the at least one sensor 18 of the second, different sensor type.

By way of example, reference is again made to the example of FIG. 5.

In the example of FIG. 5, two areas 510 and 512 are indicated where object tracking using information 12 from the at least one sensor 14 of a first sensor type, as indicated by line 508, has dropped and has therefore been lost.

During the periods 510 and 512, information 12 from the at least one sensor 18 of a second, different type can be used to supplement the information 12 from the at least one sensor 14 of a first type.

For example, during the periods 510 and 512, object tracking can be performed using information 12 from the at least one sensor 18 of the second, different sensor type to maintain enablement of the adaptive cruise control function during the periods 510 and 512 where object tracking has been lost based on the information 12 from the at least one sensor 14 of a first sensor type.

For example, object tracking may be lost based on information from one or more radar sensors, and instead object tracking can be performed using image data from one or more cameras of the vehicle 10.

In some examples, information 12 from the at least one sensor 18 of the second, different sensor type can be used in combination with the information 12 from the at least one sensor 14 of the first sensor type to allow object tracking where otherwise object tracking would be lost. For example, fusion of the information 12 from the sensor(s) 14, 18 can be performed in any suitable way.

Examples of the disclosure can, therefore, allow the adaptive cruise control function to be maintained, in some form, where otherwise the adaptive cruise control function would be disabled.

Returning to the example of FIG. 3, performing object tracking of at least one object in dependence on information 12 from the at least one sensor 18 of a second, different sensor type can be performed in any suitable way using any suitable method.

In examples, the at least one sensor 18 of the second, different sensor type comprises at least one camera. Object tracking in dependence on image data from at least one camera can be performed in any suitable way using any suitable method, for example, any suitable image analysis and/or computer vision method.

In examples, one or more neural networks can be used in image analysis to perform the object detection based on information from one or more cameras.

In some examples, image data from at least one camera of the vehicle 10 can be analysed frame-by-frame to determine what is seen in the image data, for example is a vehicle ahead seen in the image data, at what range, and at what actual position.

In examples, the frame-by-frame analysis can be compared to determine a speed of a vehicle ahead of the vehicle 10.

Returning again to the example of FIG. 4, in the area of the plot indicated 414, the information 12 from the at least one sensor 14 of the first sensor type has degraded below the limit 20 and it can be expected, for example, that object tracking based on the information 12 from the at least one sensor of a first sensor type may experience drops.

Accordingly, in the area of FIG 4 labelled 414, information 12 from at least one sensor 18 of a second, different sensor type can be used to maintain enablement of the adaptive cruise control function by, for example, performing object tracking using information 12 from the at least one sensor 18 of a second sensor type when object tracking using information 12 from at least one sensor 14 from a first sensor type has dropped.

In the area marked 418 in the example of FIG. 4 the information 12 from the at least one sensor 14 of a first sensor type has degraded to a point where it is no longer usable for the adaptive cruise control function and therefore the adaptive cruise control function may be cancelled or enabled in a form in dependence on the information 12 from the at least one sensor of second, different sensor type.

Returning to the example of FIG. 3, in examples, maintaining enablement of the adaptive cruise control function comprises maintaining enablement of the adaptive cruise control function with modified functionality.

In examples, the functionality of the adaptive cruise control function can be modified in any suitable way.

In examples, headway selection, and/or drive profile, and/or maximum supported speed for the adaptive cruise control function can be modified in any suitable way.

For example, maintaining enablement of the adaptive cruise control function with restricted functionality can comprise maintaining enablement of the adaptive cruise control function in a reduce set of conditions.

Accordingly, in examples, the adaptive cruise control function can be maintained for lower speeds. For example, in examples, the adaptive cruise control function can be maintained up to a speed limit of 40 mph, or 50mph.

In examples, the modified functionality can be dependent on the amount of degradation 16 determined and/or the type of sensor and/or sensors, used as at least one sensor 18 of a second, different sensor type, and/or one or more characteristics of the at least one sensor 18 of a second, different sensor type.

For example, cameras having different technical characteristics may enable the adaptive cruise control function at different upper speed limits.

The method 300, and/or examples of the disclosure, are advantageous and provide one or more technical benefits.

For example, examples of the disclosure provide for enablement of an adaptive cruise control function of a vehicle 10 to be maintained where otherwise it would be disabled.

For example, examples of the disclosure provide for safety aspects for the adaptive cruise control functionality to be maintained in dependence on the capability of the at least one sensor of the second, different sensor type.

For example, examples of the disclosure provide for information from any suitable number of sensors to maintain enablement of adaptive cruise control functionality.

As used herein "for' should be considered to also include "configured or arranged to". For example, "a control system for" should be considered to also include "a control system configured or arranged to".

It is to be understood that the or each controller 200 can comprise a control unit or computational device having one or more electronic processors (e.g., a microprocessor, a microcontroller, an application specific integrated circuit (ASIC), etc.), and may comprise a single control unit or computational device, or alternatively different functions of the or each controller 200 may be embodied in, or hosted in, different control units or computational devices. As used herein, the term "controller," "control unit," or "computational device" will be understood to include a single controller, control unit, or computational device, and a plurality of controllers, control units, or computational devices collectively operating to provide the required control functionality. A set of instructions could be provided which, when executed, cause the controller 200 to implement the control techniques described herein (including some or all of the functionality required for the method described herein). The set of instructions could be embedded in said one or more electronic processors of the controller 200; or alternatively, the set of instructions could be provided as software to be executed in the controller 200. A first controller or control unit may be implemented in software run on one or more processors. One or more other controllers or control units may be implemented in software run on one or more processors, optionally the same one or more processors as the first controller or control unit. Other arrangements are also useful.

In the example illustrated in Figure 2A, the or each controller 200 comprises at least one electronic processor 204 having one or more electrical input(s) 210 for receiving one or more input signals and one or more electrical output(s) 212 for outputting one or more output signals. The or each controller 200 further comprises at least one memory device 206 electrically coupled to the at least one electronic processor 204 and having instructions 208 stored therein. The at least one electronic processor 204 is configured to access the at least one memory device 206 and execute the instructions 208 thereon so as to enable an adaptive cruise control function in dependence on, at least, information from at least one sensor of a first sensor type, determine a degradation in information from the at least one sensor of a first sensor type, and supplement the information from the at least one sensor of a first sensor type with information from at least one sensor of a second, different sensor type in dependence on the determined degradation, to maintain enablement of the adaptive cruise control function.

The, or each, electronic processor 204 may comprise any suitable electronic processor (e.g., a microprocessor, a microcontroller, an ASIC, etc.) that is configured to execute electronic instructions. The, or each, electronic memory device 206 may comprise any suitable memory device and may store a variety of data, information, threshold value(s), lookup tables or other data structures, and/or instructions therein or thereon. In an embodiment, the memory device 206 has information and instructions for software, firmware, programs, algorithms, scripts, applications, etc. stored therein or thereon that may govern all or part of the methodology described herein. The processor, or each, electronic processor 204 may access the memory device 206 and execute and/or use that or those instructions and information to carry out or perform some or all of the functionality and methodology describe herein.

The at least one memory device 206 may comprise a computer-readable storage medium (e.g. a non-transitory or non-transient storage medium) that may comprise any mechanism for storing information in a form readable by a machine or electronic processors/computational devices, including, without limitation: a magnetic storage medium (e.g. floppy diskette); optical storage medium (e.g. CD-ROM); magneto optical storage medium; read only memory (ROM); random access memory (RAM); erasable programmable memory (e.g. EPROM ad EEPROM); flash memory; or electrical or other types of medium for storing such information/instructions.

Example controllers 200 have been described comprising at least one electronic processor 204 configured to execute electronic instructions stored within at least one memory device 206, which when executed causes the electronic processor(s) 204 to carry out the method as hereinbefore described. However, it will be appreciated that embodiments of the present invention can be realised in any suitable form of hardware, software or a combination of hardware and software. For example, it is contemplated that the present invention is not limited to being implemented by way of programmable processing devices, and that at least some of, and in some embodiments all of, the functionality and or method steps of the present invention may equally be implemented by way of non-programmable hardware, such as by way of non-programmable ASIC, Boolean logic circuitry, etc. 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.

The blocks illustrated in FIG. 3 may represent steps in a method and/or sections of code in the computer program 208. The illustration of a particular order to the blocks does not necessarily imply that there is a required or preferred order for the blocks and the order and arrangement of the block may be varied. Furthermore, it may be possible for some steps to be omitted.

Although embodiments of the present invention have been described in the preceding paragraphs with reference to various examples, it should be appreciated that modifications to the examples given can be made without departing from the scope of the invention as claimed.

Features described in the preceding description may be used in combinations other than the combinations explicitly described.

Although functions have been described with reference to certain features, those functions may be performable by other features whether described or not.

Although features have been described with reference to certain embodiments, those features may also be present in other embodiments whether described or not.

Whilst endeavouring in the foregoing specification to draw attention to those features of the invention believed to be of particular importance it should be understood that the Applicant claims protection in respect of any patentable feature or combination of features hereinbefore referred to and/or shown in the drawings whether or not particular emphasis has been placed thereon.

Claims

CLAIMS1. A control system for a vehicle, the control system comprising one or more controllers, wherein the control system is configured to: enable an adaptive cruise control function in dependence on, at least, information from at least one sensor of a first sensor type; determine a degradation in information from the at least one sensor of a first sensor type; and supplement the information from the at least one sensor of a first sensor type with information from at least one sensor of a second, different sensor type in dependence on the determined degradation, to maintain enablement of the adaptive cruise control function.
2. The control system of claim 1, wherein determining a degradation in information from the at least one sensor of a first sensor type comprises determining an increase in errors associated with information from the at least one sensor of a first sensor type.
3. The control system of claim 1 or 2, wherein: determining a degradation comprises determining that information from the at least one sensor of a first sensor type has degraded below a limit; and supplementing the information comprises supplementing the information from the at least one sensor of a first sensor type with information from at least one sensor of a second, different sensor type in dependence on determining that information from the at least one sensor of a first sensor type has degraded below a limit.
4. The control system of any preceding claim, wherein; determining a degradation comprises determining that object tracking of at least one object has been lost; and supplementing the information comprises performing object tracking of at least one object in dependence on the information from the at least one sensor of the second, different sensor type.
5. The control system of any preceding claim, wherein maintaining enablement of the adaptive cruise control function comprises maintaining enablement of the adaptive cruise control function with modified functionality.
6. The control system of claim 5, wherein maintaining enablement of the adaptive cruise control function with modified functionality comprises maintaining enablement of the adaptive cruise control function with restricted functionality.
7. The control system of claim 5 or 6, wherein maintaining enablement of the adaptive cruise control function with modified functionality comprises reducing a speed limit supported for the adaptive cruise control function.
8. The control system of any preceding claim, wherein the at least one sensor of a first sensor type comprises at least one radar sensor and/or the at least one sensor of the second, different sensor type comprises at least one camera.
9. A vehicle comprising a control system as claimed in at least one of claims 1 to 8, at least one sensor of a first sensor type and at least one sensor of a second, different sensor type.
10. A method of controlling an adaptive cruise control function of a vehicle, the method comprising: enabling an adaptive cruise control function in dependence on, at least, information from at least one sensor of a first sensor type; determining a degradation in information from the at least one sensor of a first sensor type; and supplementing the information from the at least one sensor of a first sensor type with information from at least one sensor of a second, different sensor type in dependence on the determined degradation, to maintain enablement of the adaptive cruise control function.
11. The method of claim 10, wherein determining a degradation in information from the at least one sensor of a first sensor type comprises determining an increase in errors associated with information from the at least one sensor of a first sensor type.
12. The method of claim 10 or 11, wherein: determining a degradation comprises determining that information from the at least one sensor of a first sensor type has degraded below a limit; and supplementing the information comprises supplementing the information from the at least one sensor of a first sensor type with information from at least one sensor of a second, different sensor type in dependence on determining that information from the at least one sensor of a first sensor type has degraded below a limit.
13. The method of any of claims 10 to 12, wherein; determining a degradation comprises determining that object tracking of at least one object has been lost; and supplementing the information comprises performing object tracking of at least one object in dependence on the information from the at least one sensor of the second, different sensor type.
14. The method of any of claims 10 to 13, wherein maintaining enablement of the adaptive cruise control function comprises maintaining enablement of the adaptive cruise control function with modified functionality.
15. Computer software that, when executed, is arranged to perform a method according to at least one of claims 10 to 14.