阅读说明：本技术 用于控制车辆移动的装置和方法 (Apparatus and method for controlling movement of vehicle ) 是由 丹尼尔·沃利斯克罗夫特 爱德华·皮特 埃利奥·卡多索 大卫·佩廷格 于 2019-05-29 设计创作，主要内容包括：本发明的实施方式提供了一种控制器(200),该控制器(200)包括：输入装置(230),用于接收指示车辆附近的特征的环境信号；输出装置(240),用于输出操纵信号以使车辆执行限定操纵；以及控制装置(210),其被布置成提供至少一种用于执行限定操纵的至少一部分的模式,所述模式能够从多种模式中选择,所述多种模式包括与乘员在车辆内模式对应的至少一种模式以及与乘员在车辆外模式对应的至少一种模式,所述模式可以根据指示适于该模式的车辆包络的环境信号来选择。(An embodiment of the present invention provides a controller (200), the controller (200) comprising: an input device (230) for receiving an ambient signal indicative of a characteristic in the vicinity of the vehicle; an output device (240) for outputting a manipulation signal to cause the vehicle to perform a defined manipulation; and a control device (210) arranged to provide at least one 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 modes being selectable in dependence on an ambient signal indicative of a vehicle envelope appropriate for that mode.)

1. A controller, comprising:

an input device for receiving an environmental signal indicative of a location of one or more features in proximity to a vehicle;

an output device for outputting a steering signal to cause the vehicle to perform a limited steering to a limited steering completion position; and

a control device arranged to control the output device to cause the vehicle to perform the defined maneuver, the control device being arranged to determine a planned trajectory to perform the defined maneuver within a number of trajectory parts to reach the defined maneuver complete position within a defined maneuver complete position tolerance range relative to features in the vicinity of the vehicle, wherein the control device is arranged to determine the defined maneuver complete position tolerance range from the environment signal.

2. A controller according to claim 1, wherein the control means is arranged to: determining the number of track portions according to the defined maneuver completion position tolerance range.

3. A controller according to any preceding claim, wherein the control means is arranged to inversely correlate the number of track portions with the defined manoeuvre completion position tolerance range such that: the defined manipulation is limited to a smaller number of trajectory parts when the defined manipulation completion position tolerance range is larger, and the defined manipulation is limited to a larger number of trajectory parts when the defined manipulation completion position tolerance range is smaller.

4. A controller as claimed in any preceding claim, wherein the control means is arranged to: determining both the number of trajectory parts and the defined maneuver completion position tolerance range from the environmental signal indicative of vehicle envelope parameters for accommodating a vehicle envelope of the vehicle.

5. A controller according to claim 4, wherein the control means is arranged to: a larger defined maneuver completion position tolerance range is provided for a vehicle envelope having larger vehicle envelope parameters.

6. A controller according to claim 4 or 5, wherein the control means is arranged to: for a vehicle envelope having larger vehicle envelope parameters, a smaller number of trajectory parts is provided.

7. A controller as claimed in any preceding claim, wherein the control means is arranged to: at least one of the number of trajectory parts and the defined maneuver completion position tolerance range is determined as a function of a position of a vehicle occupant.

8. A controller as claimed in any preceding claim, wherein the control means is arranged to: determining at least one of the number of trajectory parts and the defined maneuver completion position tolerance range according to a mode for performing the defined maneuver.

9. A controller as claimed in any preceding claim, wherein the number of track portions within which the defined manoeuvre is performed is a maximum number of track portions.

10. A controller as claimed in any preceding claim, wherein the planned trajectory is from a defined maneuver start position to the defined maneuver complete position; and the number of the trajectory parts is the total number of trajectory parts between the defined manipulation start position and the defined manipulation completion position.

11. A controller according to any preceding claim, wherein the defining a steering completion position tolerance range comprises: at least one of an angular range and a distance range relative to the feature in the vicinity of the vehicle.

12. A controller as claimed in any preceding claim, wherein the control means is arranged to determine each sequential track portion, each sequential track portion being in an opposite vehicle longitudinal direction relative to the preceding track portion.

13. A controller as claimed in any preceding claim, comprising an input device for receiving a request signal indicative of a received signal indicative of a user request for movement of a vehicle.

14. A controller as claimed in any preceding claim, wherein the defined manoeuvre is a parking manoeuvre.

15. A system, comprising:

a controller according to any preceding claim, arranged to receive the ambient signal and output the steering signal;

an environment sensing device arranged to determine a location of the one or more features in the vicinity of the vehicle; and

an actuator device for receiving the maneuver signal to cause the vehicle to perform the defined maneuver.

16. A system according to claim 15 when dependent on claim 13, comprising receiver means for: receiving the signal indicative of a user request for vehicle movement; and outputting the request signal according to the signal.

17. A system according to claim 15 or 16, comprising user input means for receiving user input, such that the control means is configured to: determining at least one of the number of trajectory parts and the defined maneuver completion position tolerance range.

18. A system according to any one of claims 15 to 17, comprising a position input device for receiving a position input, such that the control device is configured to: determining at least one of the number of trajectory parts and the defined maneuver completion position tolerance range as a function of a position parameter.

19. A method of controlling movement of a vehicle to perform a defined maneuver to a defined maneuver completion location, the method comprising:

receiving an environmental signal indicative of a location of one or more features in a vicinity of the vehicle;

determining a defined steering completion position tolerance range from the environmental signal;

determining a planned trajectory to perform the defined maneuver within a number of trajectory portions to reach the defined maneuver completion location within the defined maneuver completion location tolerance range relative to features proximate the vehicle; and

Outputting a manipulation signal to cause the vehicle to perform the defined manipulation.

20. The method of claim 19, comprising: determining the number of track portions according to the defined maneuver completion position tolerance range.

21. A method according to claim 19 or 20, comprising inversely relating the number of track portions to the defined manoeuvre completion position tolerance range such that: performing the defined manipulation with a smaller number of trajectory parts when the defined manipulation completion position tolerance range is larger; and restricting the defined manipulation to a larger number of trajectory parts when the defined manipulation completion position tolerance range is smaller.

22. The method of any of claims 19 to 21, comprising: determining both the number of trajectory parts and the defined maneuver completion position tolerance range as a function of the environmental signal indicating that a vehicle envelope parameter for accommodating the vehicle is above a threshold.

23. The method of any of claims 19 to 22, comprising: a larger defined maneuver completion position tolerance range is provided for a vehicle envelope having larger vehicle envelope parameters.

24. A vehicle comprising a controller according to any of claims 1 to 14, or comprising a system according to any of claims 15 to 18, or arranged to perform a method according to any of claims 19 to 22.

25. Computer software, the computer software being arranged to: the method of any one of claims 19 to 22, optionally when stored on a computer-readable non-transitory medium, when executed by a processing device.

Technical Field

The present disclosure relates to controlling movement of a vehicle and in particular, but not exclusively, to controlling performance of a defined manoeuvre of a vehicle. Aspects of the invention relate to a controller, a system, a method, a vehicle and computer software.

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

Background

Vehicles are known to perform defined manoeuvres, such as automatic or semi-autonomous parking manoeuvres. When the owner is ready, such as when the owner is looking for or at a parking location, the user typically instructs the vehicle to identify a possible restricted maneuver. The vehicle may be remotely instructed to perform a maneuver, for example, via a mobile device at which user input indicative of the maneuver is received.

Environmental sensing devices of a vehicle are used to determine the location of features in the vicinity of the vehicle, such as, but not exclusively, signs, walls, pillars, other vehicles, and the like. The vehicle may then be instructed, for example via a mobile device or other input medium, to move to a parked position relative to the feature. For example, it may be desirable for the vehicle to move into a parking space limited by the feature. To prevent the vehicle from contacting the object, the environment sensing device determines a distance between the vehicle and the object, and performs an automatic parking maneuver to maintain the vehicle at the spaced distance from the object. For example, the vehicle may be backed toward the feature until the appropriate separation distance is determined by the environment sensing device. If the space is large enough to accommodate the vehicle, the vehicle is parked, for example, in the middle of the space to be positioned in the center of the garage. Once the vehicle has reached the finished parking position, the vehicle is turned off, typically with the parking brake applied.

Sometimes, the feature of restricting the parking space may prevent entry into or exit from the vehicle. For example, a wall adjacent a parking space may obstruct the opening of a vehicle door, thereby obstructing or preventing access through the door.

The driver's preference may be to keep the steered wheels of the vehicle in a positive direction while parked, for example to look neat or to prevent the vehicle wheels from protruding laterally. In other cases, it may be preferable or even desirable to secure the wheels on any grade of sloping terrain.

The defined manipulations are typically performed under various environmental conditions, e.g., independent of weather or lighting.

Sometimes, features that restrict the parking space may prevent the vehicle from entering the space. For example, the parking space may be too narrow to allow the vehicle to maneuver into and out of the parking space, for example, with sufficient clearance, or even too narrow to accommodate the vehicle itself (e.g., narrower than the maximum width of the vehicle).

The defined manoeuvre may be performed over different terrain, for example different ground types or smoothness.

Sometimes, the driver prefers to park the vehicle neatly, and expects the parking position of the vehicle to be accurate. In general, drivers prefer to perform a restricted maneuver quickly.

The vehicle may be remotely instructed to perform a maneuver, for example, via a mobile device at which user input indicative of the maneuver is received. Alternatively, the vehicle may be instructed to perform the maneuver if the user is in the vehicle.

The performance of the maneuver generally moves the vehicle from a starting location, such as outside the parking space, to a finishing location, such as in the parking space. If the vehicle has reached a finished parking position, the user may turn off the vehicle, typically with the parking brake applied.

Once the vehicle has completed a defined maneuver, the user may control the vehicle, for example, to perform a manual drive. If the vehicle has reached a finished parking position, the user may turn off the vehicle, typically with the parking brake applied.

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

Disclosure of Invention

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

First technique

According to an aspect of the present invention, there is provided a controller arranged to be operable to provide at least one mode for performing a defined manoeuvre in dependence on an ambient signal.

According to an aspect of the present invention, there is provided a controller including: an input device for receiving an environmental signal indicative of a location of one or more features in proximity to a vehicle; an output device for outputting a manipulation signal to cause the vehicle to perform a defined manipulation; and control means arranged to control the output means, the control means being arranged to provide at least one mode for performing at least part 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 mode being selectable in dependence on an ambient signal indicative of a vehicle envelope appropriate to the mode. Advantageously, the vehicle may be made to provide or prepare only one or more modes of performing a defined maneuver that are appropriate for a particular vehicle envelope.

The controller as described above, wherein: the input means may comprise an electrical input for receiving a signal; the output means may comprise an electrical output for outputting the signal; and the control means may comprise one or more control devices, such as electronic processing devices.

The defined maneuver may include a parking maneuver. The parking maneuver may include an in-park maneuver, such as parking into a space to a fixed location. The parking maneuver may include a pick-up maneuver, such as driving out of the space from a fixed location. The defined manipulation completion position may include a parking position.

The occupant in-vehicle mode may indicate that the vehicle envelope is adapted to accommodate the vehicle and to open the vehicle orifice member in an accommodated vehicle position corresponding to the ambient signal. The accommodated vehicle position may correspond to a defined maneuver completion position. The occupant out-of-vehicle mode may indicate that the vehicle envelope is suitable for accommodating the vehicle, but not suitable for opening the vehicle orifice member in an accommodating vehicle position, corresponding to the ambient signal. The vehicle aperture member may comprise at least one of a door, a roof, a vehicle trunk or trunk, a vehicle hood or bonnet, a front boot, and the like. Advantageously, the one or more modes provided correspond such that they ensure proper availability of one or more vehicle apertures in each vehicle envelope in situations where use of the vehicle aperture, such as for access, is required or desired. For example, in the case where the restricted manipulation is a parking manipulation and the manipulation completion position is defined such that access of the occupant to the vehicle will be either blocked or prohibited, then only the occupant-outside-vehicle mode may be provided for the occupant. Advantageously, such an arrangement may prevent or at least mitigate completion of a defined maneuver to a defined maneuver completion position, thereby undesirably impeding occupant access to or via the vehicle aperture.

The control means may be arranged to: when the environmental signal indicates that the vehicle envelope is suitable for accommodating the vehicle and opening the vehicle orifice member in the accommodated vehicle position, selection of the occupant between the in-vehicle mode and the occupant out-of-vehicle mode is allowed. Advantageously, the user is able to select the mode they prefer where multiple modes are appropriate.

The control means may be arranged to: when the environmental signal indicates that the vehicle envelope is not suitable for opening the vehicle orifice member in the stowed vehicle position, selection of the occupant in-vehicle mode is not permitted. Advantageously, disallowing selection of an occupant's in-vehicle mode for an inapplicable vehicle envelope may prevent completion of a defined maneuver to a location whereby the occupant may not be able to use or open a vehicle aperture (e.g., whereby the occupant may not be able to exit the vehicle via the aperture).

The vehicle envelope may include a target position adapted to accommodate the vehicle in a defined maneuver completion position. The vehicle envelope may include a target-defined maneuver completion location. The vehicle envelope may be determined from one-dimensional characteristics and/or measurements and/or estimations. The vehicle envelope may be determined from an ambient signal indicative of a length, such as an unobstructed length between features, that is long enough for accommodating the vehicle in a defined maneuver completion position. The vehicle envelope may be determined from two-dimensional characteristics and/or measurements and/or estimations. For example, a vehicle envelope may be determined from an ambient signal indicative of a length (such as a length between features) along which no obstacles are present within a particular width or magnitude perpendicular to the length. The particular width or amplitude may correspond to at least a width or amplitude of the vehicle, such as a width of the vehicle when the vehicle is parked and in a closed configuration (e.g., the vehicle aperture member is closed). The particular width or magnitude may correspond to at least a length of the vehicle, such as a length of the vehicle when the vehicle is parked and in a closed configuration in a vertical position (permanent) or in a parking lot or fishbone diagonal parking position. The vehicle envelope may include at least one dimension of a parking area and the accommodating vehicle position may be a parking position. The vehicle envelope may correspond to a predefined parking space. The vehicle envelope may include a target length, area or volume for accommodating the vehicle in or on a defined maneuver completion location.

The control means may be arranged to determine the null. The control means may be arranged to define at least one vehicle envelope within the void, the vehicle envelope being adapted to accommodate the vehicle in a defined manoeuvre completion position. The control means may be arranged to define at least one defined manoeuvre completion position for the vehicle within the void. In at least some examples, the vehicle envelope may correspond to a null.

The control means may be arranged to define at least two vehicle envelopes within the void, each vehicle envelope comprising a discretely defined manoeuvre completion position offset within the void.

The two vehicle envelopes may not overlap. Alternatively, the two vehicle envelopes may overlap.

The two vehicle envelopes may extend in respective longitudinal directions adjacent and parallel to each other. Alternatively, the two vehicle envelopes may extend along the same longitudinal axis, wherein the first vehicle envelope is longitudinally offset along the longitudinal axis relative to the second vehicle envelope. In yet another alternative, the vehicle envelopes may be arranged to have non-parallel longitudinal axes, for example wherein a first vehicle envelope has a longitudinal axis that is perpendicular to a longitudinal axis of a second vehicle envelope.

Defining the maneuver completion location may include defining a center location within the void. Defining the maneuver completion location may include a central location within the vehicle envelope, such as where the vehicle central longitudinal axis is centrally located within the vehicle envelope (e.g., equidistant from the respective sides). Alternatively, defining the maneuver completion position may include an offset position, such as where the vehicle (and vehicle longitudinal center axis) is offset toward the side (e.g., left or right side of the vehicle envelope or void). Similarly, the axial midpoint of the vehicle may be axially centered in the void and/or vehicle envelope, or alternatively offset in the void and/or vehicle envelope.

The controller may include a second output device for outputting a mode signal indicating a plurality of selectable modes from which the user can select a mode for performing the defined manipulation. The second output means may comprise notification output means. Advantageously, the user may be notified of the availability of one or more modes, allowing the user to select a mode of their preference if available.

The controller may include a second input device for receiving a request signal indicating a user request to select a mode when the plurality of modes are selectable. Advantageously, an explicit user selection of a mode may be achieved. The request signal may be indicative of a signal received, wired or wirelessly (e.g., from a mobile device of the user) indicative of a user request. Advantageously, this may allow for efficient instruction (e.g., remote instruction) of the vehicle from the user's mobile device.

The control means may be arranged to: the selectable mode is not provided when the ambient signal indicates that the vehicle envelope is not suitable for performing the defined maneuver. Advantageously, selection of a non-applicable mode may be prevented.

The control means may be arranged to: output of a maneuver signal for causing the vehicle to perform a defined maneuver is prevented when the environmental signal indicates that the vehicle envelope is not suitable for accommodating the vehicle. Advantageously, execution of the inapplicable mode can be prevented.

The second output means may be arranged to provide a mode signal indicating that no mode is selectable, which corresponds to the vehicle envelope not being suitable for accommodating the vehicle. Advantageously, the user may be made aware by the notification that: the vehicle envelope has been identified, but is not suitable for performing a limited maneuver, for example, in a case where the vehicle envelope is too small even for an occupant performing the limited maneuver to be in an out-of-vehicle mode.

The control means may be arranged for making the selectable mode variable during performance of the defined manoeuvre. Advantageously, this may allow the user to switch between modes as desired without canceling or aborting the defined manipulations. For example, when picking from a location that prohibits access to the vehicle aperture thereby, the user can initiate a pick-up limited maneuver performed in the occupant out-of-vehicle mode, and then switch modes to complete the limited maneuver in the occupant in-vehicle mode (e.g., after the occupant enters the vehicle during performance of the limited maneuver).

The control means may be arranged to ensure at least a minimum separation distance from the vehicle. The control means may be arranged to provide at least a minimum separation between the vehicle and a feature in the vicinity of the vehicle. The spacing may be provided when the vehicle is in an open configuration (e.g., at least one vehicle aperture is open). The minimum interval may be provided during execution of the defined manipulation (e.g., throughout the defined manipulation); and/or the minimum interval may be provided before and/or after initiation of the defined manipulation. For example, at least a minimum spacing may be provided in defining the manipulation completion position.

The orifice member open position may comprise a fully open position. The fully open position may correspond to a maximum open position of the orifice member. The orifice-open position may comprise a partially-open position. The partially open position may correspond to a stable open position. For example, the orifice member may include a door having one or more biased open positions, the partially open position being an intermediate biased open position between the fully open position and the closed position. In at least some examples, a single mode may be provided that corresponds to a maximum open position of the orifice member, whereby the orifice member may also optionally be partially opened (e.g., depending on user preference). In other examples, a single mode may be provided corresponding to a partially open position (e.g., whereby a user may be responsible for not fully opening the orifice member (if such opening may be impeded)). In further examples, different modes may be provided for partial opening and full opening, respectively.

According to an aspect, there is provided a system comprising: a controller as described above arranged to receive the ambient signal and output the steering signal; and an environment sensing device for determining a location of one or more features in the vicinity of the vehicle and outputting an environmental signal indicative of the location. Advantageously, the system controls the selective setting of the modes.

The system may include an actuator device for receiving a maneuver signal to cause the vehicle to perform a defined maneuver. Advantageously, the system controls the movement of the vehicle to perform a defined manoeuvre.

The system may include a receiver device for receiving a signal indicative of a user request for movement of the vehicle and outputting a request signal in dependence thereon. The receiver means may be for receiving a wired and/or wireless signal from the mobile device indicating a user request. Advantageously, a user request originating outside the vehicle may be received to allow mode selection in at least some circumstances when the occupant is outside the vehicle.

The controller may be arranged to control provision of a mode to the output device for performing the defined manoeuvre in dependence on the presence of an occupant in the vehicle. For example, the controller may be arranged to receive input indicative of the presence of one or more occupants, for example from at least one sensor (e.g. a movement sensor, a weight sensor, input from an interior vehicle system such as an interior-only input device) indicative of the presence of one or more occupants in the vehicle. The controller may be arranged to receive input indicative of the position and/or state of one or more occupants, for example via position detection of a latch (e.g. seat belt buckle) or key fob or the like or driver condition recognition. Advantageously, the provision of the mode can be automatically limited to adaptation whether the occupant is inside or outside the vehicle.

According to an aspect of the present invention, there is provided a method of controlling movement of a vehicle to perform a defined maneuver, the method comprising: receiving an environmental signal indicative of a location of one or more features in a vicinity of the vehicle; providing at least one mode for performing a defined maneuver as a function of an ambient signal indicative of a vehicle envelope adapted for the mode, 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; and outputting the maneuver signal to cause the vehicle to perform at least a portion of the defined maneuver in the selected mode.

The method may include classifying the vehicle envelope. The categories may include at least: adapted to receive a vehicle and open a vehicle orifice member in a vehicle receiving position; and a vehicle orifice member adapted to receive a vehicle but not adapted to open in a vehicle receiving position. Other categories and/or other patterns may be envisaged.

The occupant in-vehicle mode may correspond to a category adapted to accommodate a vehicle and open a vehicle orifice member in an accommodated vehicle position. The occupant out-of-vehicle mode may correspond to a category suitable for accommodating a vehicle but not suitable for opening a vehicle orifice member in an accommodated vehicle position.

The method may comprise classifying the vehicle envelope as one or more of: for all occupants in the vehicle; adapted for at least one occupant in the vehicle; it is suitable for the vehicle without passengers.

The portion defining the manipulation may include one or more of: defining initiation of a manipulation; defining completion of the maneuver; and defining the entirety of the maneuver.

The method may include providing the user with a selection of modes. Additionally or alternatively, the method may include automatically selecting a default mode.

Second technique

According to an aspect of the invention, there is provided a controller arranged to operatively cause an orientation of a vehicle defining a maneuver completion position to be determined.

According to an aspect of the present invention, there is provided a controller including: an environment input device for receiving an environment signal indicative of a location of at least one feature in proximity to the vehicle; a control device arranged to determine an orientation of a defined manoeuvre completion position of the vehicle in dependence on the ambient signal; and an output device for outputting a possible defined manipulation completion position signal according to the determined orientation. Advantageously, a defined manipulation may be performed to a preferably defined manipulation-done position orientation.

The controller as described above, wherein: the input means may comprise an electrical input for receiving a signal; the output means may comprise an electrical output for outputting the signal; and the control means may comprise one or more control devices such as electronic processing devices.

The defined maneuver may include a parking maneuver. The parking maneuver may include an in-parking maneuver, such as parking into a space to a fixed location. The parking maneuver may include a pick-up maneuver, such as parking from a fixed location to outside of the space. The defined manipulation completion position may include a parking position.

The controller may include a notification output device for outputting a notification signal indicating a possible limited manipulation completion position signal.

The control means may be arranged to determine an orientation defining a manoeuvre completion position in dependence on an ambient signal indicative of an orientation of at least one feature in the vicinity of the vehicle.

The control means may be arranged to determine an orientation defining a manoeuvre completion position for alignment relative to at least one feature in the vicinity of the vehicle.

The control means may be arranged to determine an orientation defining a manoeuvre completion position to be parallel to at least one feature in the vicinity of the vehicle.

The control means may be arranged to determine an orientation defining a manoeuvre completion position to be perpendicular to at least one feature in the vicinity of the vehicle.

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

The control device may be arranged to determine an orientation of a plurality of possible defined manoeuvre completion positions of the vehicle from the ambient signal.

The control means may be arranged to inform the vehicle user of a plurality of possible orientations defining a manoeuvre completion position.

The controller may include an output device for outputting a manipulation signal to cause the vehicle to perform a defined manipulation to a defined manipulation completion position; wherein the control device is arranged to control the output device to output the steering signal.

The controller may include a request input device for receiving a request signal indicative of a signal received, wired or wirelessly, indicative of a user request for vehicle movement.

The control means may be arranged to determine an orientation defining a manoeuvre completion position in dependence on the position of the vehicle.

The controller may comprise memory means for storing data therein, the control means being arranged to determine an orientation defining a position of completion of the manipulation from the data. Advantageously, the controller may use historical data, such as associated with one or more of a particular location, scene, user, and/or pattern, to determine an orientation or default orientation.

The control means may be arranged to determine the null. The control means may be arranged to define at least one vehicle envelope within the void, the vehicle envelope being adapted to accommodate the vehicle in a defined manoeuvre completion position. The control means may be arranged to define at least one defined manoeuvre completion position for the vehicle within the void.

The vehicle envelope may include a target position adapted to accommodate the vehicle in a defined maneuver completion position. The vehicle envelope may include a target-defined maneuver completion location. The vehicle envelope may be determined from one-dimensional characteristics and/or measurements and/or estimations. The vehicle envelope may be determined from an ambient signal indicative of a length, such as an unobstructed length between features, that is long enough for accommodating the vehicle in a defined maneuver completion position. The vehicle envelope may be determined from two-dimensional characteristics and/or measurements and/or estimations. For example, a vehicle envelope may be determined from an ambient signal indicative of a length (such as a length between features) along which no obstacles are present within a particular width or magnitude perpendicular to the length. The particular width or amplitude may correspond to at least a width or amplitude of the vehicle, such as a width of the vehicle when the vehicle is parked and in a closed configuration (e.g., the vehicle aperture member is closed). The particular width or magnitude may correspond at least to a length of the vehicle, such as a length of the vehicle when the vehicle is parked and in a closed configuration in a vertical position or in a parking lot or fishbone diagonal parking position. The vehicle envelope may include at least one dimension of a parking area and the defined maneuver completion location may be a parking location. The vehicle envelope may correspond to a predefined parking space. The vehicle envelope may include a target length, area or volume for accommodating the vehicle in or on a defined maneuver completion location.

The control means may be arranged to define at least two vehicle envelopes within the void, each vehicle envelope comprising a discretely defined manoeuvre completion position offset within the void.

The vehicle envelopes may not overlap. Alternatively, the vehicle envelopes may overlap.

The vehicle envelopes may extend in respective longitudinal directions adjacent and parallel to each other. Alternatively, the vehicle envelopes may extend along the same longitudinal axis, with the first vehicle envelope being longitudinally offset along the longitudinal axis relative to the second vehicle envelope. In yet another alternative, the vehicle envelopes may be arranged to have non-parallel longitudinal axes, for example wherein a first vehicle envelope has a longitudinal axis that is perpendicular to a longitudinal axis of a second vehicle envelope.

The control means may be arranged to determine the orientation in dependence on the position of the vehicle occupant. Advantageously, the orientation, such as a forward/rearward orientation or a parallel/vertical orientation, may be adapted to accommodate the position of the vehicle occupant, for example whether the vehicle occupant is located inside or outside the vehicle.

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

The control device may be arranged to adapt the orientation defining the maneuver completion position and/or defining the maneuver completion position in dependence on the environmental signal indicative of the change of the at least one characteristic in the vicinity of the vehicle. Advantageously, the defined manipulation may be adapted during execution, for example in response to an actual change of the feature, such as a movement and/or a detected change of the feature, for example a discovery of a previously undetected parameter of the feature (e.g. a previously masked or undetected void or protrusion, etc.).

The controller may comprise control means arranged to determine the orientation in dependence on a mode of performing at least a part of the defined manoeuvre. Advantageously, the orientation may be adapted to suit the mode. For example, the controller may be arranged to adapt the orientation depending on whether the mode is an occupant in-vehicle mode or an occupant out-of-vehicle mode. The controller may comprise control means arranged to adapt the orientation in dependence on at least one of: environmental conditions in the vicinity of the vehicle (e.g., precipitation, such as rain, temperature, light level, wind, etc.); the terrain (e.g., road, off-road, flatness of the road, etc.) near the vehicle.

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

The system may include a notification output device for notifying a vehicle user of the possible restricted maneuver completion location.

The system may include an environment sensing device for determining a location of at least one feature in the vicinity of the vehicle and for outputting an environmental signal.

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

The notification output means may be arranged to output a notification signal for a visual notification and/or an audio notification, the notification signal indicating a possible defined manoeuvre completion position.

The system may include an environment sensing device for determining a location of at least one feature in the vicinity of the vehicle.

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

Wherein the control device is arranged to output a steering signal; the system may include an actuator device for receiving a maneuver signal to cause the vehicle to perform a defined maneuver.

According to an aspect of the present invention, there is provided a method of determining an orientation of a vehicle defining a maneuver completion location, the method comprising: receiving an environmental signal indicative of a location of at least one feature in a vicinity of the vehicle; determining, with the control device, an orientation of a defined maneuver completion location of the vehicle based on the environmental signal; and outputting a possibly defined maneuver completion position signal based on the determined orientation.

The method may include outputting a notification signal indicative of a possible defined maneuver completion position signal.

The method can comprise the following steps: an orientation defining a maneuver completion location is determined with the control device based on the environmental signal indicative of an orientation of at least one feature in the vicinity of the vehicle.

The method may include determining an orientation defining a maneuver completion location to be aligned relative to at least one feature in the vicinity of the vehicle.

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

The method may include determining an orientation of a plurality of possible defined maneuver completion locations of the vehicle from the environmental signals; and notifying a vehicle user of a plurality of possible orientations defining a maneuver completion location.

The method may include providing a user with a selection of orientations, such as selecting from a plurality of possible defined manipulation completion locations.

The method may include determining an orientation defining a maneuver completion location based on the location of the vehicle.

The method can comprise the following steps: a request signal is received indicative of a signal received, either wired or wirelessly, indicative of a user request for vehicle movement.

The method may include outputting a maneuver signal to cause the vehicle to perform a defined maneuver to a defined maneuver completion location; the output device is controlled by the control device to output the manipulation signal.

The method can comprise the following steps: storing data in a memory device; and determining a possible defined maneuver completion location based on the data.

The method may include detecting the null based on an ambient signal.

The method can comprise the following steps: at least one vehicle envelope is determined within the void based on at least one dimensional parameter of the void derived from the ambient signal. The vehicle envelope may be adapted to accommodate the vehicle in a defined maneuver completion position.

The method can comprise the following steps: a vehicle envelope is determined from an ambient signal indicative of at least one additional parameter associated with the null in addition to the size parameter.

The method may comprise classifying the slots into one or more categories, the categories corresponding to one or more of: the void comprises a vehicle envelope adapted to accommodate the vehicle in a defined manoeuvre complete position; the vacancy includes a vehicle envelope adapted to accommodate the vehicle at a defined maneuver completion location while performing the defined maneuver of the particular pattern; the null comprises a specifically oriented vehicle envelope; the slot includes a plurality of vehicle envelopes; the null comprises a single vehicle envelope; and the null does not include a vehicle envelope.

Third technique

According to one aspect of the present invention, there is provided a controller arranged to operatively angularly offset a wheel (particularly with respect to features in the vicinity of the vehicle) in a position defining the completion of a maneuver.

According to an aspect of the present invention, there is provided a controller including: an input device for receiving an environmental signal indicative of a location of one or more features in proximity to a vehicle; an output device for outputting a manipulation signal to cause the vehicle to perform a defined manipulation to a completion position; and control means arranged to control the output means in dependence on the ambient signal to angularly offset the wheel in the finished position relative to a feature in the vicinity of the vehicle. Advantageously, the vehicle may be provided with an improved wheel configuration in the finished position, for example for a vehicle, the wheels are advantageously angled relative to features in the vicinity of the vehicle.

The controller as described above, wherein: the input means may comprise an electrical input for receiving a signal; the output means may comprise an electrical output for outputting the signal; and the control means may comprise one or more control devices such as electronic processing devices.

The defined maneuver may include a parking maneuver. The parking maneuver may include an in-parking maneuver, such as parking into a space to a fixed location. The parking maneuver may include a pick-up maneuver, such as parking from a fixed location to outside the space. The completion location may comprise a parking location.

The control means may be arranged to control the output means to angularly offset the wheel in the finished position towards a feature adjacent the vehicle. The wheel in the finished position may be angularly offset toward the feature such that the wheel will contact the feature in the event of the vehicle rolling.

The one or more features may include a curb. The control means may be arranged to control the output means to angularly offset the wheel in the finished position towards the curb. Advantageously, this may cause or cause the curb to resist wheel roll, or resist roll beyond what may be desired (e.g., to bring the wheel against the curb to prevent further roll of the vehicle), for example, in the event that the user does not apply or release the parking brake (particularly when the vehicle is on a hill).

The angularly offsetting may include providing at least a minimum angle between a longitudinal axis of the vehicle and the wheel. Thus, angularly offsetting may include deviating the wheel from a forward straight trajectory parallel to the longitudinal axis of the vehicle.

The control means may be arranged to control the output means to angularly offset the wheel in the finished position relative to a feature adjacent the vehicle by a predetermined offset angle. Advantageously, this may cause the vehicle to angularly offset the wheel by a sufficient angle (e.g., at or greater than a threshold angle).

The predetermined offset angle may correspond to a maximum wheel angle relative to the longitudinal axis of the vehicle, such as a "wheel lock" offset angle. The predetermined offset angle may be sufficient to allow the wheel to contact the feature under the weight of the vehicle pushing the vehicle.

The control means may be arranged to control the output means to cause the vehicle to have a fastening wheel configuration at the completion of the defined manoeuvre. Advantageously, in at least some examples, such control devices may help ensure compliance with requirements, such as parking regulations requiring parking of a car with narrow wheels. The fastening wheel arrangement may comprise: one or more wheels are blocked diagonally on the curb, for example by turning one or more wheels to the curb when facing a downhill slope and turning one or more wheels off the curb (e.g., off the street) when facing an uphill slope.

The control means may be arranged to control the output means to angularly offset the wheel in the finished position relative to the feature in the vicinity of the vehicle in dependence on the inclination. The control means may be arranged to control the output means to angularly offset the wheel in the finished position relative to a feature in the vicinity of the vehicle in dependence on the direction of inclination. The control means may be arranged to control the output means to angularly offset the wheel in the finished position in a downward or downhill direction towards the feature. For example, when the vehicle is leaning downward or downhill in the direction of vehicle travel, the wheels in the finished position may be angularly offset toward the feature in the direction of vehicle travel. Additionally or alternatively, the wheels in the finished position may be angularly offset in the vehicle reverse direction towards the feature (e.g. uphill in the vehicle forward direction) when the vehicle is leaning downward or downhill in the vehicle reverse direction. The inclination may be the inclination of the vehicle, in particular in the finished position, which may be indicated, for example, by an accelerometer, a gravity sensor, a vehicle suspension system, or the like. The inclination may be an inclination of a surface for carrying the vehicle, such as a ground surface. The inclination may comprise a longitudinal inclination, for example a front to rear longitudinal inclination of the vehicle along its longitudinal axis. Advantageously, this may cause or cause the curb to obstruct the vehicle from rolling down or downhill too much, for example, under the weight of the vehicle in the event that the user does not apply or release the parking brake.

The controller may include a second input device for receiving a request signal indicative of a received signal indicative of a user request. The request signal may be indicative of a signal indicative of a user request, e.g., from a mobile device of the user, received either wired or wirelessly. Advantageously, this may allow for efficient instruction (e.g., remote instruction) of the vehicle from the user's mobile device.

The controller may be configured, for example, by a user. In at least some examples, the controller may be configured to apply the angular offset as a default setting, for example at each defined maneuver completion location or at least at each fixed park location. The controller may be arranged to allow user adaptation. The user may be able to at least partially override (override), program, configure, or adjust the controller to change one or more of the following: providing an angular offset; a tilt threshold for providing an angular offset; one or more positions at which an angular offset is provided; the direction of the angular offset; and the angle of the angular offset. The controller may be arranged to be manually overridden, programmed or adjusted to adjust the output of the steering signals. Additionally or alternatively, the controller may be arranged to automatically or semi-automatically override, program or adjust the output of the manipulation signal, for example by learning from user behaviour, such as repetitive user behaviour associated with one or more of: inputting a style; a geographic location; user identity (e.g., where multiple users do not use the vehicle at the same time). For example, the controller may be arranged not to angularly offset the wheels when the vehicle is in a particular position (e.g. a home or garage) in which the user has previously overridden, cancelled or rejected the angular offset of the wheels. The controller may include self-learning, for example, learning when and/or where to apply the angular offset.

The user may include an occupant. The user may include a driver of the vehicle. The user may be located in a vehicle. For example, the user may be located outside the vehicle for at least a portion of the performance of the defined maneuver. The vehicle may include one or more non-driver occupants. In at least some examples, one or more users and/or occupants may be located in and/or outside of the vehicle.

The control means may be arranged to control the output means to angularly offset the wheel at the completing position as part of the performance of the defined manoeuvre. The control means may be arranged to control the output means to configure the vehicle in the completing position. Advantageously, this may enable the controller to ensure angular displacement of the wheels even in the event that the vehicle has reached the completion position, without the need for the control device to control the output device for the entire execution to reach the completion position.

The control means may be arranged to control the output means to angularly offset the wheels when the vehicle is stationary (e.g. in a finished position). Advantageously, this may allow the controller to control only a portion of the manipulation, e.g., after the user-controlled portion of the manipulation.

The control means may be arranged to determine the null. The control means may be arranged to define at least one vehicle envelope within the void, the vehicle envelope being adapted to accommodate the vehicle in a defined manoeuvre completion position. The control means may be arranged to define at least one defined manoeuvre completion position for the vehicle within the void.

The vehicle envelope may include a target position adapted to accommodate the vehicle in a defined maneuver completion position. The vehicle envelope may include a target-defined maneuver completion location. The vehicle envelope may be determined from one-dimensional characteristics and/or measurements and/or estimations. The vehicle envelope may be determined from an ambient signal indicative of a length, such as an unobstructed length between features, that is long enough for accommodating the vehicle in a defined maneuver completion position. The vehicle envelope may be determined from two-dimensional characteristics and/or measurements and/or estimations. For example, a vehicle envelope may be determined from an ambient signal indicative of a length (such as a length between features) along which no obstacles are present within a particular width or magnitude perpendicular to the length. The particular width or amplitude may correspond to at least a width or amplitude of the vehicle, such as a width of the vehicle when the vehicle is parked and in a closed configuration (e.g., the vehicle aperture member is closed). The particular width or amplitude may correspond at least to a length of the vehicle, such as a length of the vehicle when the vehicle is parked and in a closed configuration in a vertical position or in a parking lot or fishbone diagonal parking position. The vehicle envelope may include at least one dimension of a parking area and the defined maneuver completion location may be a parking location. The vehicle envelope may correspond to a predefined parking space. The vehicle envelope may include a target length, area or volume for accommodating the vehicle in or on a defined maneuver completion location.

The control means may be arranged to define at least two vehicle envelopes within the void, each vehicle envelope comprising a discrete finished position offset within the void.

The two vehicle envelopes may not overlap. Alternatively, the two vehicle envelopes may overlap.

The two vehicle envelopes may extend in respective longitudinal directions adjacent and parallel to each other. Alternatively, the two vehicle envelopes may extend along the same longitudinal axis, wherein the first vehicle envelope is longitudinally offset along the longitudinal axis relative to the second vehicle envelope. In yet another alternative, the vehicle envelopes may be arranged to have non-parallel longitudinal axes, for example wherein a first vehicle envelope has a longitudinal axis that is perpendicular to a longitudinal axis of a second vehicle envelope.

According to an aspect of the present invention, there is provided a system comprising: a controller as described above arranged to receive the ambient signal and output the steering signal; an environment sensing device for determining a location of one or more features in the vicinity of the vehicle and outputting an environment signal indicative of the location of the one or more features in the vicinity of the vehicle; and actuator means for receiving a steering signal to cause the vehicle to perform a defined steering to the completing location if the wheel in the completing location is angularly offset relative to a feature in the vicinity of the vehicle. Advantageously, the wheels can be autonomously angularly offset with respect to the ambient signal. The environment sensing means may be one or more environment sensing devices.

The wheels may include road wheels. The angularly offset wheels may be steerable wheels, for example for changing the direction of the vehicle. The wheels may be steered by a steering wheel. The wheels may include front wheels. The wheels may include rear wheels. A plurality of wheels, such as one or more pairs of wheels, may be angularly offset. The angularly offsetting may include: one or more front and/or rear wheels of a vehicle having rear wheel steering are angularly offset.

The controller may be arranged to provide an indication of the angular offset. The indication may comprise a visual indication. The indication may comprise the presence and/or magnitude and/or direction of the angular offset. The indication may be provided from outside the vehicle (e.g., via a mobile device) and/or provided separately from the vehicle. The indication may be provided within the vehicle. The controller may be arranged to control the output device to rotationally offset the steering wheel relative to a neutral position of the steering wheel, thereby indicating to a user that the wheels are angularly offset. In particular, where the steering wheel may have rotational or positional similarity or symmetry, such that the steering wheel may be in or appear to be in a neutral position when the wheels are not in the respective neutral wheel positions. One or more neutral positions of the steering wheel and/or the wheels may correspond to a straightened position of the wheels, for example where the wheels are parallel to the longitudinal axis of the vehicle. Angularly offsetting the wheel may include: the wheels are angled away from the neutral position. Advantageously, rotationally offsetting the steering wheel may indicate to the user: the wheels are angularly offset, optionally in which direction the wheels are angularly offset. In other examples, the position of the steering wheel may not indicate an angular offset of one or more wheels, such as where the wheels are steered by steer-by-wire or the like.

The system may include receiver means for wirelessly receiving a signal from the mobile device indicative of a user request for movement of the vehicle, and outputting a request signal in dependence on the signal. Additionally or alternatively, the receiver means may be for receiving signals from the mobile device by wire.

The control means may be arranged to control the output means in dependence on the position of the vehicle to selectively angularly offset the wheel in the finished position relative to a feature in the vicinity of the vehicle. The control means may be arranged to determine from the position whether the wheel should be angularly offset. The control means may be arranged to determine the direction of the angular offset, e.g. the direction of rotation of the wheel, from the position. The control means may be arranged to determine the angle of the offset in dependence on the position. The position may be indicated by a navigation system, such as a satellite navigation system. The location may be associated with a geofence. The location may be indicated by data stored in memory. The control means may be arranged to determine the inclination of the vehicle and/or the ground surface from the position. Additionally or alternatively, the control means may be arranged to determine the inclination of the vehicle and/or the ground surface from input from vehicle sensors (such as accelerometers). Additionally or alternatively, the control device may be arranged to determine the inclination of the vehicle and/or the ground surface from the ambient signal.

According to an aspect of the present invention, there is provided a method of controlling movement of a vehicle to perform a defined maneuver, the method comprising: receiving an environmental signal indicative of a location of one or more features in a vicinity of the vehicle; and controlling the output device in dependence on the ambient signal such that the wheel is angularly offset relative to a feature in the vicinity of the vehicle in a finished position defining the maneuver.

The one or more features may include a curb, and the method may include angularly offsetting the wheel toward the curb in a completion position defining the maneuver.

The method can comprise the following steps: a signal is received from the mobile device indicating a user request to perform a defined manipulation.

The method can comprise the following steps: the location of one or more features is determined using an environment sensing device.

Fourth technique

According to an aspect of the invention, there is provided a controller arranged to be operable to cause a vehicle to perform at least part of a defined maneuver in dependence on an environmental condition.

According to an aspect of the present invention, there is provided a controller including: an input device for receiving an environmental condition signal indicative of an environmental condition in the vicinity of the vehicle; output means for outputting a manipulation signal to cause the vehicle to perform a defined manipulation; and control means arranged to control the output means to cause the vehicle to perform at least part of the defined manoeuvre in dependence on the ambient condition signal. Advantageously, the vehicle may be adapted to vary the performance of the defined manoeuvre to suit the environmental conditions.

The controller as described above, wherein: the input means may comprise an electrical input for receiving a signal; the output means may comprise an electrical output for outputting the signal; and the control means may comprise one or more control devices such as electronic processing devices.

The defined maneuver may include a parking maneuver. The parking maneuver may include an in-parking maneuver, such as parking into a space to a fixed location. The parking maneuver may include a pick-up maneuver, such as parking from a fixed location to outside the space. The defined manipulation completion position may include a parking position.

The control means may be arranged to control the output means to cause the vehicle to perform at least part of the defined manoeuvre in accordance with a vehicle movement control profile (profile) determined in dependence on the ambient condition signal. Advantageously, the vehicle can be made to perform a defined manoeuvre in a controlled manner adapted to the environmental conditions.

The vehicle movement control attribute may include a speed parameter. The speed parameter may indicate a first order speed parameter. Advantageously, the vehicle may be caused to perform a defined manoeuvre at a vehicle speed which is adapted to the ambient conditions.

The control means may be arranged to select the vehicle movement control attribute in dependence on a classification of the environmental condition. Advantageously, the vehicle may select, for example automatically, parameters for performing the defined manoeuvre associated with a predetermined category of one or more environmental conditions.

The speed parameter may be indicative of an acceleration of the vehicle. Advantageously, the vehicle may be caused to perform the defined manoeuvre with a suitable acceleration, for example to perform the defined manoeuvre efficiently and/or without excessive acceleration of the vehicle or the user or its content.

The speed parameter may be indicative of a jerk (jerk) of the vehicle. Advantageously, the vehicle can be made to perform a defined manoeuvre with a suitable rate of acceleration variation that is physically and/or psychologically appropriate for the user.

The speed parameter may comprise a maximum speed parameter. Advantageously, it is possible to have the vehicle perform a defined manoeuvre at or within a maximum speed, acceleration and/or jerk; such that the defined manipulation is performed efficiently and/or is physically and/or psychologically appropriate for the user.

The maximum speed parameter corresponding to the first environmental condition in the vehicle movement control attribute may be less than the maximum speed parameter corresponding to the second environmental condition in the vehicle movement control attribute. Advantageously, the maximum speed parameter may be varied to accommodate changes in environmental conditions.

The vehicle movement control attribute may depend on the terrain in the vicinity of the vehicle. Advantageously, the vehicle may be adapted to define the performance of maneuvers to suit the terrain.

The control means may be arranged to select the vehicle movement control attribute in dependence on the classification of the terrain. Advantageously, the vehicle may select, for example automatically, parameters for performing the defined manoeuvre associated with a predetermined terrain category.

The topography may be a surface. The surface may include a ground surface, such as a load bearing surface (e.g., a vehicle bearing surface). The surface may comprise, for example, a drivable surface for receiving at least one wheel thereon. The surface may include a formation (subsurface).

The terrain may include one or more of the following: road topography; off-road terrain; bumpy terrain; leveling the terrain; smooth terrain; flat terrain; a material. The terrain may be classified according to one or more parameters corresponding to one or more of: the degree of jounce; flatness; roughness; grip the land; smoothness; friction force; one or more gradients; one or more inclinations; one or more materials. The one or more parameters may include a magnitude and/or a direction.

The environmental conditions may include one or more of the following: (ii) temperature; the temperature of the air; surface temperature, such as road temperature; precipitation, such as rain, snow, hail; moisture; humidity; dust fog; mist; particles, such as airborne particles; a light level; wind; wind speed; the wind direction. The categories for classifying the one or more environmental conditions may include categories corresponding to types of the one or more environmental conditions. For example, the categories may include: heating; warming; cooling; raining; snow falls; drying; moisture; wetting; fog exists; fog is generated; darkness; bright; wind, etc. In at least some examples, multiple categories corresponding to each environmental condition parameter may be provided. For example, several categories may be provided for temperature, such as "hot air", "warm air", "cold air", "chilled air", "hot-circuit", "warm-circuit", "cold-circuit", "frozen-circuit", and so forth. It should also be appreciated that one or more environmental conditions may be classified into multiple categories simultaneously. For example, one or more environmental conditions may be classified as "warm, humid, windy, and dark. One or more environmental conditions may include a plurality of such categories or parameters.

The controller may include a second input device for receiving a request signal indicative of a received signal indicative of a user request. The request signal is indicative of a signal indicative of a user request, e.g., from a user's mobile device, received either wired or wirelessly. Advantageously, this may allow for efficient instruction (e.g., remote instruction with a user outside the vehicle) of the vehicle from the user's mobile device.

The user may include an occupant. The user may include a driver of the vehicle. The user may be located in a vehicle. For example, the user may be located outside the vehicle for at least a portion of the performance of the defined maneuver. The vehicle may include one or more non-driver occupants. In at least some examples, one or more users and/or occupants may be located in and/or outside of the vehicle.

The control means may be arranged to determine the null. The control means may be arranged to define at least one vehicle envelope within the void, the vehicle envelope being adapted to accommodate the vehicle in a defined manoeuvre completion position. The control means may be arranged to define at least one defined manoeuvre completion position for the vehicle within the void.

The vehicle envelope may include a target position adapted to accommodate the vehicle in a defined maneuver completion position. The vehicle envelope may include a target-defined maneuver completion location. The vehicle envelope may be determined from one-dimensional characteristics and/or measurements and/or estimations. The vehicle envelope may be determined from an ambient signal indicative of a length, such as an unobstructed length between features, that is long enough for accommodating the vehicle in a defined maneuver completion position. The vehicle envelope may be determined from two-dimensional characteristics and/or measurements and/or estimations. For example, a vehicle envelope may be determined from an ambient signal indicative of a length (such as a length between features) along which no obstacles are present within a particular width or magnitude perpendicular to the length. The particular width or amplitude may correspond to at least a width or amplitude of the vehicle, such as a width of the vehicle when the vehicle is parked and in a closed configuration (e.g., the vehicle aperture member is closed). The particular width or amplitude may correspond at least to a length of the vehicle, such as a length of the vehicle when the vehicle is parked and in a closed configuration in a vertical position or a parking lot or a fishbone diagonal parking position. The vehicle envelope may include at least one dimension of a parking area and the defined maneuver completion location may be a parking location. The vehicle envelope may correspond to a predefined parking space. The vehicle envelope may include a target length, area or volume for accommodating the vehicle in or on a defined maneuver completion location.

The control means may be arranged to define at least two vehicle envelopes within the void, each vehicle envelope comprising a discretely defined manoeuvre completion position offset within the void.

The two vehicle envelopes may not overlap. Alternatively, the two vehicle envelopes may overlap.

The two vehicle envelopes may extend in respective longitudinal directions adjacent and parallel to each other. Alternatively, the two vehicle envelopes may extend along the same longitudinal axis, wherein the first vehicle envelope is longitudinally offset along the longitudinal axis relative to the second vehicle envelope. In yet another alternative, the vehicle envelopes may be arranged to have non-parallel longitudinal axes, for example wherein a first vehicle envelope has a longitudinal axis that is perpendicular to a longitudinal axis of a second vehicle envelope.

According to an aspect of the invention, there is provided a system comprising: a controller as described above arranged to receive the environmental condition signal and output a steering signal; and actuator means for receiving the maneuver signal to cause the vehicle to perform the defined maneuver in accordance with the environmental conditions in the vicinity of the vehicle.

The system may include an environmental condition sensing device for determining one or more environmental conditions in the vicinity of the vehicle and outputting an environmental condition signal indicative thereof.

The system may include an environment sensing device for determining a location of one or more features in the vicinity of the vehicle and outputting an environmental signal indicative of the location.

The system may include a controller arranged to control the output device to cause the vehicle to perform at least part of the defined manoeuvre in accordance with the vehicle movement control attribute determined in dependence on the ambient condition signal.

The system may comprise a controller arranged to select a vehicle movement control attribute in dependence on one or more characteristics.

The system may comprise a controller arranged to select a vehicle movement control attribute in dependence on a position of the vehicle.

The system may comprise a controller arranged to select a vehicle movement control attribute for performing the defined manoeuvre in dependence on a driving mode of the vehicle. The driving mode of the vehicle may include one or more of: "off-road"; "sports"; "conventional"; "race"; "comfortable"; "personal"; "economic" and the like. The driving mode may correspond to a vehicle parameter, such as a ride setting.

The system may comprise a controller arranged to select a vehicle movement control attribute for performing the defined manoeuvre in dependence on the presence of the occupant in the vehicle.

The system may include: receiver means for receiving a signal indicative of a user request for movement of the vehicle and outputting a request signal in accordance with the signal. The receiver means may be for wirelessly receiving signals from a mobile device.

The system may include a controller arranged to receive a terrain signal indicative of at least one terrain in the vicinity of the vehicle. The controller may be arranged to select the vehicle movement control attribute for performing the defined manoeuvre in dependence on the terrain signal.

The system may include: a terrain sensing device for determining terrain in the vicinity of the vehicle and outputting a terrain signal indicative thereof.

According to an aspect of the present invention, there is provided a method of controlling movement of a vehicle to perform a defined maneuver, the method comprising: receiving an environmental condition signal indicative of an environmental condition proximate the vehicle; and controlling the output device in accordance with the environmental condition signal such that at least a portion of the defined maneuver is performed in accordance with an environmental condition proximate the vehicle.

The method may include determining an environmental condition with an environmental condition sensing device.

The method can comprise the following steps: the output device is controlled in accordance with the environmental condition signal such that at least a portion of the defined maneuver is performed in accordance with a vehicle movement control attribute that is dependent on an environmental condition in the vicinity of the vehicle.

The method may include selecting a vehicle movement control attribute based on a driving mode of the vehicle.

The method may include selecting a vehicle movement control attribute based on the presence of an occupant in the vehicle.

The method can comprise the following steps: the terrain in the vicinity of the vehicle is determined and vehicle movement control attributes are selected based on the terrain.

The method may include determining a location of one or more features in a vicinity of the vehicle using the environment sensing device. The method may include selecting a vehicle movement control attribute based on one or more characteristics.

The method may include receiving a signal from the mobile device indicating a user request to perform a defined manipulation.

Fifth technique

According to an aspect of the invention, there is provided a controller arranged to be operable to vary a position of a movable projection of a vehicle during performance of a defined maneuver in dependence on an environmental signal.

According to an aspect of the present invention, there is provided a controller including: an input device for receiving an environmental signal indicative of a location of one or more features in proximity to a vehicle; output means for outputting a manipulation signal to cause the vehicle to perform a defined manipulation; and a control device arranged to control the output device to cause the vehicle to perform a defined manoeuvre, the control device being arranged to control the output device to vary the position of the movable projection of the vehicle during the defined manoeuvre in dependence on the environmental signal. Advantageously, the vehicle can be made to change the position of the movable projection to suit the circumstances.

The controller as described above, wherein: the input means may comprise an electrical input for receiving a signal; the output means may comprise an electrical output for outputting the signal; and the control means may comprise one or more control devices such as electronic processing devices.

The defined maneuver may include a parking maneuver. The parking maneuver may include an in-parking maneuver, such as parking into a space to a fixed location. The parking maneuver may include a pick-up maneuver, such as parking from a fixed location to outside the space. The defined manipulation completion position may include a parking position.

The input device may be arranged for receiving an environment signal from an environment sensing device associated with a movable protrusion of the vehicle. Advantageously, there may be at least a portion of the environment sensing means associated with (e.g. connected to or in) the movable projection.

The controller may include a memory device for storing data therein. The memory device may be arranged to store data received via the input device prior to changing the position of the movable projection of the vehicle. The memory device may be arranged to store data received before and/or during and/or after performing the defined manipulation. Advantageously, the controller is capable of storing data, such as the environment, for subsequent use of the data.

The control means may be arranged to control the output means in dependence on data stored in the memory means. Advantageously, the control means is able to use data (e.g. previously stored data about the environment) to control the output means, for example when it is unlikely that data or previously stored data about the environment is available from the input means.

The control means may be arranged to control the output means to vary the movable projection of the vehicle during the defined manoeuvre in dependence on the data stored in the memory means. The control device can use the stored data after it is no longer possible or unlikely to obtain data for controlling the position of the movable projection, for example where the environment sensing device has been reconfigured or repositioned (e.g. where the environment sensing device is associated with a movable projection).

The control device may be arranged to control the output device to reconfigure the movable lug of the vehicle from the movable lug deployed position to the movable lug folded position of the vehicle during the parking limit maneuver. Advantageously, the control means are able to cause the vehicle to adopt a particular configuration (e.g. a smaller or narrower configuration) during the parking limit manoeuvre.

The control device may be arranged to control the output device to change the position of the movable projection of the vehicle from a folded position of the movable projection of the vehicle to an unfolded position of the movable projection of the vehicle during a pick-up defining maneuver. Advantageously, the control means are able to cause the vehicle to adopt another specific configuration (for example with a deployed, fully deployed or activated movable projection) during the pick-up defined manoeuvre, for example to enable the defined manoeuvre and/or the subsequent execution of the vehicle with the movable projection to be completed in the normal driving use configuration (for example with a deployed, fully deployed or activated movable projection).

The control means may be arranged to control the output means to cause the position of the movable projection of the vehicle to change during the defined manoeuvre in dependence on an environmental signal indicative of a characteristic such as: a feature proximate to the vehicle or movable protrusion, a feature at a location proximate to a predicted or predicted trajectory of the vehicle (particularly proximate to a location of the movable protrusion). Advantageously, the position of the movable projection may be varied to accommodate or assist the future path or trajectory of the vehicle.

The controller may include a second input device for receiving a request signal indicative of a received signal indicative of a user request. The request signal may be indicative of a signal indicative of a user request, e.g., from a mobile device of the user, received either wired or wirelessly. Advantageously, this may allow for efficient instruction (e.g., remote instruction) of the vehicle from the user's mobile device.

The user may include an occupant. The user may include a driver of the vehicle. The user may be located in a vehicle. For example, the user may be located outside the vehicle for at least a portion of the performance of the defined maneuver. The vehicle may include one or more non-driver occupants. In at least some examples, one or more users and/or occupants may be located in and/or outside of the vehicle.

The movable projection may comprise one or more of: vehicle mirrors, such as side-view mirrors; vehicle image sensing devices, such as camera devices; a laser radar; ultrasonic sensors, and the like. The deployed position of the movable projection may comprise an active configuration of the movable projection. The folded position of the movable tab may comprise an inactive configuration of the movable tab.

The control means may be arranged to determine the null. The control means may be arranged to define at least one vehicle envelope within the void, the vehicle envelope being adapted to accommodate the vehicle in a defined manoeuvre completion position. The control means may be arranged to define at least one defined manoeuvre completion position for the vehicle within the void.

The vehicle envelope may include a target position adapted to accommodate the vehicle in a defined maneuver completion position. The vehicle envelope may include a target-defined maneuver completion location. The vehicle envelope may be determined from one-dimensional characteristics and/or measurements and/or estimations. The vehicle envelope may be determined from an ambient signal indicative of a length, such as an unobstructed length between features, that is long enough for accommodating the vehicle in a defined maneuver completion position. The vehicle envelope may be determined from two-dimensional characteristics and/or measurements and/or estimations. For example, a vehicle envelope may be determined from an ambient signal indicative of a length (such as a length between features) along which no obstacles are present within a particular width or magnitude perpendicular to the length. The particular width or amplitude may correspond to at least a width or amplitude of the vehicle, such as a width of the vehicle when the vehicle is parked and in a closed configuration (e.g., the vehicle aperture member is closed). The particular width or magnitude may correspond at least to a length of the vehicle, such as a length of the vehicle when the vehicle is parked and in a closed configuration in a vertical position or in a parking lot or fishbone diagonal parking position. The vehicle envelope may include at least one dimension of a parking area and the accommodating vehicle position may be a parking position. The vehicle envelope may correspond to a predefined parking space. The vehicle envelope may include a target length, area or volume for accommodating the vehicle in or on a defined maneuver completion location.

The control means may be arranged to define at least two vehicle envelopes within the void, each vehicle envelope comprising a discretely defined manoeuvre completion position offset within the void.

The vehicle envelopes may not overlap. Alternatively, the vehicle envelopes may overlap.

The vehicle envelopes may extend in respective longitudinal directions adjacent and parallel to each other. Alternatively, the vehicle envelopes may extend along the same longitudinal axis, with the first vehicle envelope being longitudinally offset along the longitudinal axis relative to the second vehicle envelope. In yet another alternative, the vehicle envelopes may be arranged to have non-parallel longitudinal axes, for example wherein a first vehicle envelope has a longitudinal axis that is perpendicular to a longitudinal axis of a second vehicle envelope.

According to an aspect of the invention, there is provided a system comprising: a controller as described above arranged to receive the ambient signal and output the steering signal; an environment sensing device for determining a location of one or more features in the vicinity of the vehicle and outputting an environmental signal indicative of the location.

The system may include an actuator device for receiving a maneuver signal to cause the vehicle to perform a defined maneuver.

The system may include: receiver means for receiving a signal indicative of a user request for movement of the vehicle and outputting a request signal in accordance with the signal. The receiver means may be for wirelessly receiving a signal indicative of a user request from a mobile user equipment.

The controller may be arranged to control the output means for performing the defined manoeuvre in dependence on the presence of an occupant in the vehicle.

According to an aspect of the present invention, there is provided a method of controlling movement of a vehicle to perform a defined maneuver, the method comprising: receiving an environmental signal indicative of a location of one or more features in a vicinity of the vehicle; and controlling the output device in dependence on the ambient signal such that a movable projection of the vehicle during the defined manoeuvre is positioned in dependence on the ambient signal.

The method may include changing a position of a movable protrusion of a mirror relative to a feature in proximity to the vehicle.

The method may include determining a location of one or more features with an environment sensing device and outputting an environment signal from the environment sensing device.

The environment sensing device may be associated with a movable protrusion of the vehicle.

The method can comprise the following steps: the data received from the environment sensing device is stored prior to changing the position of the movable protrusion or reconfiguring the movable protrusion.

The method may include controlling the output device in accordance with the stored data.

The method may include controlling the output device in accordance with the stored data to perform a defined manipulation in accordance with the stored data.

The method can comprise the following steps: the output device is controlled in accordance with the stored data to change the position of or configure the movable projection during the defined manipulation in accordance with the stored data.

The method can comprise the following steps: the position of the movable projection of the vehicle is changed or reconfigured between the deployed position and the folded position during the defined maneuver.

The method may include receiving a signal indicative of a user request to perform a defined manipulation. The method may include receiving a signal from the mobile device indicating a user request to perform a defined manipulation.

Sixth technique

According to an aspect of the invention, there is provided a controller arranged to operatively cause a vehicle to perform at least part of a defined manoeuvre in dependence on terrain.

According to an aspect of the present invention, there is provided a controller including: an input device for receiving a terrain signal indicative of terrain in the vicinity of the vehicle; output means for outputting a manipulation signal to cause the vehicle to perform a defined manipulation; and control means arranged to control the output means in dependence on the terrain signal. Advantageously, the vehicle may be adapted to define the performance of maneuvers to suit the terrain.

The controller as described above, wherein: the input means may comprise an electrical input for receiving a signal; the output means may comprise an electrical output for outputting the signal; and the control means may comprise one or more control devices such as electronic processing devices.

The defined maneuver may include a parking maneuver. The parking maneuver may include an in-parking maneuver, such as parking into a space to a fixed location. The parking maneuver may include a pick-up maneuver, such as parking from a fixed location to outside the space. The defined manipulation completion position may include a parking position.

The control means may be arranged to control the output means to cause the vehicle to perform at least part of the defined manoeuvre in accordance with the vehicle movement control attribute determined from the terrain signal. Advantageously, the vehicle can be made to perform defined manoeuvres in a controlled manner adapted to the terrain.

The vehicle movement control attribute may include a speed parameter. The speed parameter may indicate a first order speed parameter. Advantageously, the vehicle may be caused to perform a defined manoeuvre at a vehicle speed suitable for the terrain.

The control means may be arranged to select the vehicle movement control attribute in dependence on the classification of the terrain. Advantageously, the vehicle may automatically or otherwise select parameters associated with one or more predetermined categories of terrain for performing the defined manoeuvre.

The topography may be a surface. The surface may include a ground surface, such as a load bearing surface (e.g., a vehicle bearing surface). The surface may comprise, for example, a drivable surface for receiving at least one wheel thereon. The surface may include a subterranean formation.

The terrain category may include one or more of the following: road topography; off-road terrain; bumpy terrain; leveling the terrain; smooth terrain; flat terrain; a material. The terrain may be classified according to one or more parameters corresponding to one or more of: the degree of jounce; flatness; roughness; grip the land; smoothness; friction force; one or more gradients; one or more inclinations; one or more materials. The one or more parameters may include a magnitude and/or a direction.

The control means may be arranged to: the output device is controlled in accordance with a terrain signal indicative of a terrain in the vicinity of the vehicle, in addition to or instead of the terrain signal.

The speed parameter may be indicative of an acceleration of the vehicle. Advantageously, the vehicle may be caused to perform the limited manoeuvre with a suitable acceleration, for example to perform the limited manoeuvre efficiently and/or without excessive acceleration of the vehicle or its content or occupants.

The speed parameter may be indicative of a jerk of the vehicle. Advantageously, the vehicle can be made to perform a defined manoeuvre with a suitable rate of acceleration variation that is physically and/or psychologically appropriate for the user.

The speed parameter includes a maximum speed parameter. Advantageously, it is possible to make the vehicle perform a defined manoeuvre at maximum speed, acceleration and/or jerk; such that the defined manipulation is performed efficiently and/or is physically and/or psychologically appropriate for the user.

The maximum speed parameter in the vehicle movement control attribute corresponding to the first terrain may be less than the maximum speed parameter in the vehicle movement control attribute corresponding to the second terrain. Advantageously, the maximum speed parameter may be varied to accommodate changes in terrain.

The maximum speed parameter in the vehicle movement control attribute corresponding to the off-road terrain may be less than the maximum speed parameter in the vehicle movement control attribute corresponding to the road terrain. Advantageously, the maximum speed parameter may be reduced to accommodate for the difference in force. In at least some examples, the maximum speed parameter in the vehicle movement control attribute corresponding to off-road terrain may be equal to or greater than the maximum speed parameter in the vehicle movement control attribute corresponding to on-road terrain. For example, for vehicle movement control attributes corresponding to off-road terrain, there may be an increased maximum jerk, for example where a user may be accustomed to or desire an increased jerk (e.g., an increased jerk specifically associated with rough terrain).

The movement control attribute may depend on environmental conditions in the vicinity of the vehicle. Advantageously, the vehicle may be adapted to define the performance of the manoeuvre to suit the environmental conditions.

The controller may include a second input device for receiving a request signal, the request signal indicating a received signal indicative of a user request. The request signal is indicative of a signal indicative of a user request, e.g., from a user's mobile device, received either wired or wirelessly. Advantageously, this may allow for efficient instruction (e.g., remote instruction) of the vehicle from the user's mobile device.

The user may include an occupant. The user may include a driver of the vehicle. The user may be located in a vehicle. For example, the user may be located outside the vehicle for at least a portion of the performance of the defined maneuver. The vehicle may include one or more non-driver occupants. In at least some examples, one or more users and/or occupants may be located in and/or outside of the vehicle.

The control means may be arranged to determine the null. The control means may be arranged to define at least one vehicle envelope within the void, the vehicle envelope being adapted to accommodate the vehicle in a defined manoeuvre completion position. The control means may be arranged to define at least one defined manoeuvre completion position for the vehicle within the void.

The vehicle envelope may include a target position adapted to accommodate the vehicle in a defined maneuver completion position. The vehicle envelope may include a target-defined maneuver completion location. The vehicle envelope may be determined from one-dimensional characteristics and/or measurements and/or estimations. The vehicle envelope may be determined from an ambient signal indicative of a length, such as an unobstructed length between features, that is long enough for accommodating the vehicle in a defined maneuver completion position. The vehicle envelope may be determined from two-dimensional characteristics and/or measurements and/or estimations. For example, a vehicle envelope may be determined from an ambient signal indicative of a length (such as a length between features) along which no obstacles are present within a particular width or magnitude perpendicular to the length. The particular width or amplitude may correspond to at least a width or amplitude of the vehicle, such as a width of the vehicle when the vehicle is parked and in a closed configuration (e.g., the vehicle aperture member is closed). The particular width or amplitude may correspond at least to a length of the vehicle, such as a length of the vehicle when the vehicle is parked and in a closed configuration in a vertical position or in a parking lot or fishbone diagonal parking position. The vehicle envelope may include at least one dimension of a parking area and the defined maneuver completion location may be a parking location. The vehicle envelope may correspond to a predefined parking space. The vehicle envelope may include a target length, area or volume for accommodating the vehicle in or on a defined maneuver completion location.

The control means may be arranged to define at least two vehicle envelopes within the void, each vehicle envelope comprising a discretely defined manoeuvre completion position offset within the void.

The two vehicle envelopes may not overlap. Alternatively, the two vehicle envelopes may overlap.

The two vehicle envelopes may extend in respective longitudinal directions adjacent and parallel to each other. Alternatively, the two vehicle envelopes may extend along the same longitudinal axis, wherein the first vehicle envelope is longitudinally offset along the longitudinal axis relative to the second vehicle envelope. In yet another alternative, the vehicle envelopes may be arranged to have non-parallel longitudinal axes, for example wherein a first vehicle envelope has a longitudinal axis that is perpendicular to a longitudinal axis of a second vehicle envelope.

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

The system may include: a terrain sensing device for determining terrain in the vicinity of the vehicle and outputting a terrain signal indicative thereof.

The system may include: an environment sensing device for determining a location of one or more features in the vicinity of the vehicle and outputting an environmental signal indicative of the location. The terrain sensing device may comprise an environmental sensing device.

The control means may be arranged to control the output means to cause the vehicle to perform at least part of the defined manoeuvre in accordance with a vehicle movement control attribute determined from the terrain signal.

The control means may be arranged to select the vehicle movement attribute in dependence on one or more characteristics.

The control means may be arranged to select the vehicle movement control attribute in dependence on the position of the vehicle.

The control means may be arranged to select the vehicle movement control property for performing the defined manoeuvre in dependence on a driving mode of the vehicle.

The control means may be arranged to select the vehicle movement control property for performing the defined manoeuvre in dependence on the presence of an occupant in the vehicle.

The control device may be arranged to receive an environmental condition signal indicative of at least one environmental condition in the vicinity of the vehicle. The control means may be arranged to select the vehicle movement control attribute for performing the defined manoeuvre in dependence on the ambient condition signal.

The system may include: receiver means for receiving a signal indicative of a user request for movement of the vehicle and outputting a request signal in accordance with the signal. The receiver means may be for wirelessly receiving a signal indicative of a user request from a mobile user equipment.

The system may include: an environmental condition sensing device for determining one or more environmental conditions in the vicinity of the vehicle and outputting an environmental condition signal indicative thereof.

According to yet another aspect of the present invention, there is provided a method of controlling movement of a vehicle to perform a defined maneuver, the method comprising: receiving a terrain signal indicative of terrain in the vicinity of the vehicle; and controlling the output device in dependence on the terrain signal such that at least a part of the defined manoeuvre is performed in dependence on the terrain in the vicinity of the vehicle.

The method may include determining terrain using a terrain sensing device.

The method can comprise the following steps: the output device is controlled in dependence on the terrain signal such that at least a part of the defined manoeuvre is performed in dependence on a vehicle movement control attribute which is dependent on the terrain in the vicinity of the vehicle.

The method may include selecting a vehicle movement control attribute based on a vehicle driving pattern.

The method may include selecting a vehicle movement control attribute based on the presence of an occupant in the vehicle.

The method may include determining an environmental condition in the vicinity of the vehicle and selecting a vehicle movement control attribute based on the environmental condition.

The method can comprise the following steps: determining a location of one or more features in a vicinity of the vehicle using the environment sensing device; and selecting a vehicle movement control attribute in accordance with the one or more characteristics.

The method may include receiving a signal indicative of a user request to perform a defined manipulation. The method may include receiving a signal from the mobile device indicating a user request to perform a defined manipulation.

Seventh technique

According to an aspect of the invention, there is provided a controller arranged to be operable to cause a vehicle to perform a defined maneuver within a number of trajectory parts, the number being selectively adapted in dependence on an ambient signal.

According to an aspect of the present invention, there is provided a controller including: an input device for receiving an environmental signal indicative of a location of one or more features in proximity to a vehicle; an output device for outputting a manipulation signal to cause the vehicle to perform a limited manipulation to a limited manipulation completion position; and a control device arranged to control the output device to cause the vehicle to perform a defined maneuver, the control device being arranged to determine the planned trajectory to perform the defined maneuver within a number of trajectory parts to reach the defined maneuver complete position within a defined maneuver complete position tolerance range with respect to a feature in the vicinity of the vehicle, wherein the control device is arranged to determine the defined maneuver complete position tolerance range from the environmental signal. Advantageously, the vehicle may be made to perform a defined manoeuvre within a number of trajectory parts that can be adapted to features in the vicinity of the vehicle.

The controller as described above, wherein: the input means may comprise an electrical input for receiving a signal; the output means may comprise an electrical output for outputting the signal; and the control means may comprise one or more control devices such as electronic processing devices.

The defined maneuver may include a parking maneuver. The parking maneuver may include an in-parking maneuver, such as parking into a space to a fixed location. The parking maneuver may include a pick-up maneuver, such as parking from a fixed location to outside the space. The defined manipulation completion position may include a parking position.

The control means may be arranged to determine the number of track portions in dependence on a defined steering completion position tolerance range. Advantageously, the number of track portions may be adapted to accommodate defining a manipulation completion position tolerance range.

The control means may be arranged to inversely relate the number of track portions to a defined steering completion position tolerance range such that: the defined manipulation is limited to a smaller number of trajectory parts when the defined manipulation-completion position tolerance range is larger, and the defined manipulation is limited to a larger number of trajectory parts when the defined manipulation-completion position tolerance range is smaller. Advantageously, the number of trajectory parts may be proportional, e.g. inversely proportional, to the size of the tolerance range defining the manoeuvre completing position. Thus, the accuracy or finish defining the maneuver completion location may be related to the vehicle envelope within which the vehicle is located.

The control means may be arranged to determine the null. The control means may be arranged to define at least one vehicle envelope within the void, the vehicle envelope being adapted to accommodate the vehicle in a defined manoeuvre completion position. The control means may be arranged to define at least one defined manoeuvre completion position for the vehicle within the void.

The vehicle envelope may include a target position adapted to accommodate the vehicle in a defined maneuver completion position. The vehicle envelope may include a target-defined maneuver completion location. The vehicle envelope may be determined from one-dimensional characteristics and/or measurements and/or estimations. The vehicle envelope may be determined from an ambient signal indicative of a length, such as an unobstructed length between features, that is long enough for accommodating the vehicle in a defined maneuver completion position. The vehicle envelope may be determined from two-dimensional characteristics and/or measurements and/or estimations. For example, a vehicle envelope may be determined from an ambient signal indicative of a length (such as a length between features) along which no obstacles are present within a particular width or magnitude perpendicular to the length. The particular width or amplitude may correspond to at least a width or amplitude of the vehicle, such as a width of the vehicle when the vehicle is parked and in a closed configuration (e.g., the vehicle aperture member is closed). The particular width or amplitude may correspond at least to a length of the vehicle, such as a length of the vehicle when the vehicle is parked and in a closed configuration in a vertical position or in a parking lot or fishbone diagonal parking position. The vehicle envelope may include at least one dimension of a parking area and the defined maneuver completion location may be a parking location. The vehicle envelope may correspond to a predefined parking space. The vehicle envelope may include a target length, area or volume for accommodating the vehicle in or on a defined maneuver completion location.

The control means may be arranged to define at least two vehicle envelopes within the void, each vehicle envelope comprising a discretely defined manoeuvre completion position offset within the void.

The two vehicle envelopes may not overlap. Alternatively, the two vehicle envelopes may overlap.

The two vehicle envelopes may extend in respective longitudinal directions adjacent and parallel to each other. Alternatively, the two vehicle envelopes may extend along the same longitudinal axis, wherein the first vehicle envelope is longitudinally offset along the longitudinal axis relative to the second vehicle envelope. In yet another alternative, the vehicle envelopes may be arranged to have non-parallel longitudinal axes, for example wherein a first vehicle envelope has a longitudinal axis that is perpendicular to a longitudinal axis of a second vehicle envelope.

The control means may be arranged to: both the steering completion position tolerance range and the number of trajectory parts are defined according to an ambient signal indicative of vehicle envelope parameters for accommodating a vehicle envelope of the vehicle. Advantageously, both the number of trajectory parts and the defined maneuver completion position tolerance range may be adapted to accommodate a vehicle envelope in which the vehicle is positioned at the defined maneuver completion position.

The control means may be arranged to: a larger defined maneuver completion position tolerance range is provided for a vehicle envelope having larger vehicle envelope parameters. For example, the vehicle envelope parameter may be one or more dimensions, such as a spacing to or between one or more features in the vicinity of the vehicle. Advantageously, the defined maneuver completion location tolerance range may be larger when the vehicle envelope is larger, to allow less precise definition of the maneuver completion location when there is a larger separation from one or more features in the vicinity of the vehicle. For example, where the vehicle envelope includes a large parking space, a larger tolerance range may be provided (e.g., the vehicle may be less accurately positioned in the space).

The control means may be arranged to: a smaller number of trajectory parts is provided for a vehicle envelope having larger vehicle envelope parameters. Advantageously, the defined maneuver completion location tolerance range may be smaller when the vehicle envelope is smaller, allowing for a more accurate definition of the maneuver completion location when there is less separation from one or more features in the vicinity of the vehicle.

The control device may be arranged to determine at least one of the number of defined manoeuvre completion position tolerance ranges and track portions in dependence on the position of the vehicle occupant. The position of the occupant may be within the vehicle, for example the position of the driver may be in a driver seat. Advantageously, the number of trajectory parts or defining the maneuver completion position tolerance range may be adapted to accommodate whether one or more occupants are inside or outside the vehicle. For example, the control means may be arranged to: fewer track portions are allowed for faster defined maneuvers when a vehicle occupant, such as a driver, is present in the vehicle (and optionally more track portions are allowed for slower defined maneuvers, e.g., when no vehicle occupant is present). Alternatively, the control means may be arranged to: more trajectory parts are allowed for a more accurate defined manoeuvre completion position when a vehicle occupant, such as a driver, is present in the vehicle (and optionally less trajectory parts are allowed for a less accurate defined manoeuvre completion position, for example, when no vehicle occupant is present).

The control means may be arranged to determine at least one of the defined maneuver completion position tolerance range and the number of trajectory parts in dependence on the mode for performing the defined maneuver. The modes of execution may include one or more of the following: at least one mode corresponding to an occupant in-vehicle mode; and at least one mode corresponding to an occupant out-of-vehicle mode. Advantageously, the performance of the defined manoeuvre (e.g. a change in the number or direction of the trajectory parts) may be adapted to suit the mode of performance, for example with respect to whether the occupant is located inside or outside the vehicle (e.g. with respect to an impact on the user's body and/or mind).

The number of track portions on which the qualifying manipulation is performed may be a maximum number of track portions. Advantageously, the defined manipulation may be limited to a maximum number of parts, such that the defined manipulation, or at least the perception of the defined manipulation by the user, is not implemented as a multitrack part.

The planned trajectory may be from a defined maneuver start position to a defined maneuver complete position. The number of track portions may be the total number of track portions from the defined manipulation start position to the defined manipulation complete position. Advantageously, the entire defined manipulation may be performed in a total limited number of track portions, e.g. it may be considered that the entire defined manipulation is physically and/or psychologically acceptable or desirable for the user.

The defined maneuver completion location tolerance range may include at least one of an angular range and a distance range relative to features in the vicinity of the vehicle. Advantageously, defining a maneuver completion location tolerance range may help ensure that the vehicles are aligned and/or spaced apart as may be desired or required by a user (e.g., with respect to or relative to at least one feature near the vehicle).

The control means may be arranged to determine each sequential track portion, each sequential track portion being in an opposite longitudinal direction of the vehicle relative to the preceding track portion. Advantageously, the vehicle may be caused to move backwards and then forwards (or forwards and then backwards) repeatedly or sequentially, for example to provide a consecutive succession of movements in any single longitudinal direction.

The controller may include an input device for receiving a request signal indicative of a received signal indicative of a user request for movement of the vehicle. The request signal may be indicative of a signal indicative of a user request, e.g., from a mobile device of the user, received either wired or wirelessly. For example, the request signal may indicate a user request (e.g., for performance of a portion of a particular defined manipulation) that has been wirelessly transmitted from a mobile device and received by the controller or another device or system connected with the mobile device. Advantageously, this may allow for efficient instruction (e.g., remote instruction) of the vehicle from the user's mobile device.

The user may include an occupant. The user may include a driver of the vehicle. The user may be located in a vehicle. For example, the user may be located outside the vehicle for at least a portion of the performance of the defined maneuver. The vehicle may include one or more non-driver occupants. In at least some examples, one or more users and/or occupants may be located in and/or outside of the vehicle.

According to an aspect of the invention, there is provided a system comprising: a controller as described above arranged to receive the ambient signal and output the steering signal; an environment sensing device arranged to determine the location of one or more features in the vicinity of the vehicle; and an actuator device for receiving the steering signal to cause the vehicle to perform a defined steering.

The system may include a receiver device to: a signal indicative of a user's request for movement of the vehicle is received and a request signal is output based on the signal.

The system may comprise a user input device for receiving a user input, such that the control device is configured to determine at least one of a defined manipulation completion position tolerance range and a number of trajectory parts.

The system may comprise a position input device for receiving a position input, such that the control device is configured to determine at least one of a tolerance range defining a manipulation completion position and a number of trajectory parts in dependence on the position parameter.

According to an aspect of the present invention, there is provided a method of controlling movement of a vehicle to perform a defined maneuver to a defined maneuver completion position, the method including: receiving an environmental signal indicative of a location of one or more features in a vicinity of the vehicle; determining a limited steering completion position tolerance range from the environmental signal; determining a planned trajectory to perform a defined maneuver within a number of trajectory parts to reach a defined maneuver completion location within a defined maneuver completion location tolerance range with respect to a feature proximate the vehicle; and outputting the maneuver signal to cause the vehicle to perform the defined maneuver.

The method may include determining the number of track portions based on a defined steering completion position tolerance range.

The method may comprise inversely relating the number of track portions to a defined manipulation completion position tolerance range such that: performing the defined manipulation with a smaller number of trajectory parts when the defined manipulation completion position tolerance range is larger; and limiting the defined manipulation to a larger number of trajectory parts when the defined manipulation completion position tolerance range is smaller.

The method can comprise the following steps: determining both a vehicle envelope parameter defining a maneuver completion position tolerance range and a number of trajectory portions based on the environmental signal indicating that a vehicle envelope for housing the vehicle is above a threshold.

The method can comprise the following steps: a larger defined maneuver completion position tolerance range is provided for a vehicle envelope having larger vehicle envelope parameters.

The method can comprise the following steps: a smaller number of trajectory parts are provided for a vehicle envelope having smaller vehicle envelope parameters.

The method may include determining at least one of a defined maneuver completion location tolerance range and a number of trajectory portions based on a location of an occupant of the vehicle.

The method can comprise the following steps: sequentially moving the vehicle in a single alternating longitudinal vehicle direction per each sequential track portion such that each track portion is in an opposite longitudinal vehicle direction to at least one of an immediately preceding track portion and an immediately succeeding track portion.

The method can comprise the following steps: a signal indicative of a user request for vehicle movement is received and a request signal is output based on the signal.

The method may include determining at least one of a number of trajectory parts and defining a maneuver completion location tolerance range based on the environmental condition signal.

Eighth technique

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

According to an aspect of the present invention, there is provided a controller including: output means for outputting a manipulation signal to cause the vehicle to perform a defined manipulation; and a control device arranged to control the output device, the control device being arranged to provide a mode for performing at least a part 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 device being arranged to change the modes during the defined manoeuvre. Advantageously, the defined manipulation may be performed in a plurality of modes, which are changed during the manipulation to accommodate the user.

The controller as described above, wherein: the input means may comprise an electrical input for receiving a signal; the output means may comprise an electrical output for outputting the signal; and the control means may comprise one or more control devices such as electronic processing devices.

The defined maneuver may include a parking maneuver. The parking maneuver may include an in-parking maneuver, such as parking into a space to a fixed location. The parking maneuver may include a pick-up maneuver, such as parking from a fixed location to outside the space. The defined manipulation completion position may include a parking position.

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

The input device may be for receiving a request signal indicating a mode selection.

The control means may be arranged to enable the mode to be selected in dependence on the position of the vehicle occupant. Advantageously, only one or more modes may be selected that are suitable or best suited for the position of the vehicle occupant.

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

The controller may be arranged to: input indicative of the position and/or status of one or more occupants is received, for example, via position detection or driver condition recognition of a latch (e.g., a seat belt buckle) or key fob, or the like.

The controller may comprise an ambient input device for receiving an ambient signal indicative of the location of one or more features in the vicinity of the vehicle, wherein the control device is arranged for enabling the mode to be selected in dependence on the ambient signal, the ambient signal being indicative of a vehicle envelope adapted to the mode. Advantageously, only one or more modes may be selected that are suitable or best suited for the vehicle envelope.

The user may include an occupant. The user may include a driver of the vehicle. The user may be located in a vehicle. For example, the user may be located outside the vehicle for at least a portion of the performance of the defined maneuver. The vehicle may include one or more non-driver occupants. In at least some examples, one or more users and/or occupants may be located in and/or outside of the vehicle.

The control means may be arranged to determine the null. The control means may be arranged to define at least one vehicle envelope within the void, the vehicle envelope being adapted to accommodate the vehicle in a defined manoeuvre completion position. The control means may be arranged to define at least one defined manoeuvre completion position for the vehicle within the void.

The vehicle envelope may include a target position adapted to accommodate the vehicle in a defined maneuver completion position. The vehicle envelope may include a target-defined maneuver completion location. The vehicle envelope may be determined from one-dimensional characteristics and/or measurements and/or estimations. The vehicle envelope may be determined from an ambient signal indicative of a length, such as an unobstructed length between features, that is long enough for accommodating the vehicle in a defined maneuver completion position. The vehicle envelope may be determined from two-dimensional characteristics and/or measurements and/or estimations. For example, a vehicle envelope may be determined from an ambient signal indicative of a length (such as a length between features) along which no obstacles are present within a particular width or magnitude perpendicular to the length. The particular width or amplitude may correspond to at least a width or amplitude of the vehicle, such as a width of the vehicle when the vehicle is parked and in a closed configuration (e.g., the vehicle aperture member is closed). The particular width or amplitude may correspond at least to a length of the vehicle, such as a length of the vehicle when the vehicle is parked and in a closed configuration in a vertical position or in a parking lot or fishbone diagonal parking position. The vehicle envelope may include at least one dimension of a parking area and the defined maneuver completion location may be a parking location. The vehicle envelope may correspond to a predefined parking space. The vehicle envelope may include a target length, area or volume for accommodating the vehicle in or on a defined maneuver completion location.

The control means may be arranged to define at least two vehicle envelopes within the void, each vehicle envelope comprising a discretely defined manoeuvre completion position offset within the void.

The two vehicle envelopes may not overlap. Alternatively, the two vehicle envelopes may overlap.

The two vehicle envelopes may extend in respective longitudinal directions adjacent and parallel to each other. Alternatively, the two vehicle envelopes may extend along the same longitudinal axis, wherein the first vehicle envelope is longitudinally offset along the longitudinal axis relative to the second vehicle envelope. In yet another alternative, the vehicle envelopes may be arranged to have non-parallel longitudinal axes, for example wherein a first vehicle envelope has a longitudinal axis that is perpendicular to a longitudinal axis of a second vehicle envelope.

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

The system may include a receiver device for receiving a signal indicative of a user request for movement of the vehicle and outputting a request signal in dependence thereon. The signal indicating the user request may be received wired or wirelessly. The controller may be arranged to: input indicative of the position and/or status of one or more occupants is received, for example, via position detection or driver condition recognition of a latch (e.g., a seat belt buckle) or key fob, or the like.

The controller may be arranged to control provision of the mode in dependence on the position of the vehicle occupant.

The system may include an environment sensing device for determining a location of one or more features in the vicinity of the vehicle.

According to an aspect of the present invention, there is provided a method of controlling movement of a vehicle to perform a defined maneuver, the method comprising: providing a mode for performing at least a portion of the defined maneuver, 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 maneuver signal to cause the vehicle to perform at least a portion of the defined maneuver in the selected mode; and changing the mode during execution of the defined maneuver.

The method may include receiving a signal indicative of a user request for movement of the vehicle and outputting a request signal based on the signal.

The method may include a user selecting a mode.

The method may include automatically selecting a default mode.

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

The method can comprise the following steps: receiving an environmental signal indicative of a location of one or more features in a vicinity of the vehicle; and providing a selectable mode based on a characteristic of the vicinity of the vehicle.

Defining a portion of the maneuver may include one or more of: defining initiation of a manipulation; defining completion of the maneuver; and defining the entirety of the maneuver.

The method may include providing the user with a selection of modes.

Ninth technique

According to an aspect of the present invention, there is provided a controller arranged to be operable to cause a vehicle to automatically notify a user of an opportunity to perform a defined maneuver.

According to an aspect of the present invention, there is provided a controller including: input means for receiving an input signal; a control device arranged to determine a defined maneuver opportunity for at least a portion of a defined maneuver to be performed by the vehicle; notification output means for outputting a notification signal; the control means is arranged to control the notification output means to output a notification signal indicative of the determination of the defined manipulation opportunity by the control means; the control means is arranged to control the notification output means to automatically notify the vehicle user of the control means' determination of the defined manoeuvring opportunity independently of the user request; wherein the control device is arranged to control the notification output device to notify the vehicle user of the defined maneuver opportunity in dependence on the input signal indicative of the vehicle parameter; a manipulation output device for outputting a manipulation signal to cause the vehicle to perform a defined manipulation; and request input means for receiving a request signal indicating a user request for execution of at least a part of the restricted maneuver, the maneuver output means being controlled by the control means to cause the vehicle to execute the restricted maneuver in accordance with the request signal.

The controller as described above, wherein: the input means may comprise an electrical input for receiving a signal; the output means may comprise an electrical output for outputting the signal; and the control means may comprise one or more control devices such as electronic processing devices.

The defined maneuver may include a parking maneuver. The parking maneuver may include an in-parking maneuver, such as parking into a space to a fixed location. The parking maneuver may include a pick-up maneuver, such as parking from a fixed location to outside the space. The defined manipulation completion position may include a parking position.

The vehicle parameter may be a non-speed parameter. The vehicle parameter may be indicative of at least one of: a state of the vehicle; and the location of the vehicle.

The vehicle parameter may be associated with performance of a defined maneuver. The vehicle parameter may be selected from at least two vehicle parameters, the two vehicle parameters including at least a vehicle speed parameter and at least one vehicle additional parameter. The vehicle additional parameters may include non-speed parameters.

The control means may be arranged to control the notification means to output a notification signal indicative of a defined maneuver opportunity without requiring a user to activate the controller to determine the defined maneuver opportunity.

The control device may be arranged to control the notification device to output a notification signal indicative of the determination of the defined manipulation opportunity in dependence on the input signal from the input device, wherein the controller is arranged to receive the input signal from at least one of the plurality of input sources.

The control means may be arranged to control the notification means to output a notification signal indicative of the determination of the defined manipulation opportunity in dependence on the input signal, wherein the input signal comprises at least one of: an environmental signal indicative of a location of at least one feature in proximity to the vehicle; a motion signal indicative of motion of the vehicle; a steering signal indicative of a steering input; an event signal indicative of a vehicle event; and a position signal indicative of a vehicle position.

The control means may be arranged to control the notification means to output the notification signal in dependence on a determination by the control means of a user-initiated manipulation.

The control means may be arranged to transfer control from the user to the control means to continue to perform the user-initiated manipulation as a defined manipulation.

The control means may be arranged to determine an opportunity to perform a defined maneuver to a defined maneuver completion position based on the determination of the planned trajectory.

The control means may be arranged to determine a plurality of opportunities for performing at least part of the defined manoeuvre, the control means being arranged to control the notification means to output a notification signal to the user of the determination of the plurality of opportunities.

The controller may comprise a user input device for receiving a request signal indicative of a received signal indicative of a user request. The request signal may be indicative of a signal indicative of a user request, e.g., from a mobile device of the user, received either wired or wirelessly. Advantageously, this may allow for efficient instruction (e.g., remote instruction with a user outside the vehicle) of the vehicle from the user's mobile device.

The user may include an occupant. The user may include a driver of the vehicle. The user may be located in a vehicle. For example, the user may be located outside the vehicle for at least a portion of the performance of the defined maneuver. The vehicle may include one or more non-driver occupants. In at least some examples, one or more users and/or occupants may be located in and/or outside of the vehicle.

The control means may be arranged to control the manipulation output means to perform a defined manipulation from a user-initiated manipulation end position in dependence on the request signal. Advantageously, the vehicle may be caused to perform a defined maneuver from a non-specific defined maneuver starting position (e.g., corresponding to any user-initiated maneuver ending position or a defined maneuver starting position that is not specified).

The user-initiated maneuver may comprise a parking maneuver. The user-initiated parking maneuver may include, for example, a partial parking maneuver to an incomplete parking location (e.g., not completely within or outside of the parking space). The parking maneuver may include an in-parking maneuver, such as parking into a space to a fixed location. The parking maneuver may include a pick-up maneuver, such as parking from a fixed location to outside the space. The user-initiated maneuver ending location may include a fixed vehicle location.

The control means may be arranged to detect performance of a user-initiated manipulation in dependence on the input signal. The control means may be arranged to control the notification output means to notify the user of the detection of the user-initiated manipulation by the control means. Advantageously, the user may be alerted to the possibility of performing the defined manipulation.

The control means may be arranged to control the notification output means to automatically output a notification signal relating to detection of user-initiated manipulation by the control means. The control means may be arranged to provide the user with persistence as a defined manipulation. Advantageously, the user may be provided with the possibility to perform a defined manipulation without having to explicitly request or seek this possibility.

The control means may be arranged to control the notification output means to output a notification signal for the manipulation output means controlled by the control means independently of a user request. Advantageously, the controller may be configured to output the notification signal automatically without the vehicle user activating the control device. For example, the user may additionally be unaware of the possibility of performing a defined manipulation (e.g., in a particular scenario), such that allowing output of a notification signal independent of a user request may allow for more or more useful possibilities of a defined manipulation to be provided to the user (e.g., as compared to only those explicitly sought by the user in advance).

The control means may be arranged to: the notification output device is controlled based at least in part on an input signal received prior to a user-initiated manipulation end position. Advantageously, the control device is able to determine from the previous input signals whether one or more defined manipulations are possible (for example in case the previous input signals comprise data which is no longer available via the respective input device).

The control device may be configured to inhibit the notification output device from notifying a vehicle user of, for example, detection of a user-initiated manipulation by the control device. Advantageously, the user can customize the control device. For example, in a scenario or type of scenario in which the user may not wish to perform a defined maneuver (e.g., where the user has a different identity, such as when the vehicle has a different driver), the control device may be configured not to notify the user.

The control means may be arranged to control the manoeuvre output means to cause the vehicle to follow a planned trajectory from a user initiated end-of-manoeuvre position to a defined manoeuvre completion position. Advantageously, the control device may predetermine a trajectory for the vehicle to perform a defined maneuver.

The planned trajectory may include at least partial correction of the user-initiated manipulation performed prior to the user request. Advantageously, at least a portion of the user-initiated manipulation may be corrected or undone. For example, in the event that a user does not ideally enter or partially enter a parking space or location in a user-initiated parking maneuver, for example when the angle of the vehicle relative to the space or location is inappropriate, the control device may be arranged to more appropriately position the vehicle in the space or location; and/or arranged to move the vehicle away from the parking space or parking position (e.g. to completely resume parking in accordance with a defined manoeuvre).

The control means may be arranged to control the manoeuvre output means to cause the vehicle to perform a reversal of at least part of a user-initiated manoeuvre performed before the defined manoeuvre.

The control means may be arranged to control the manipulation output means to perform a defined manipulation from a user-defined start position for the defined manipulation, the user-defined start position for the defined manipulation corresponding to a user-initiated manipulation end position. The starting position for a defined maneuver may include an intermediate maneuver position, such as an intermediate maneuver position partially in and/or out of the vehicle vacancy.

The controller may include a memory device for storing data therein. The memory device may be arranged to store data received via the input device. The control means may be arranged to control the notification means to output a notification signal indicative of the opportunity in dependence on the data.

The stored data may indicate a defined manipulation that was previously performed.

The control means may be arranged to control the manoeuvre output means to cause the vehicle to perform a repetition of at least part of a previously performed defined manoeuvre. The execution may be selective.

The control means may be arranged to control the manoeuvre output means to cause the vehicle to perform a reversal of at least part of a previously performed defined manoeuvre. Inversion may include reverse steering or inversion. For example, the reverse may include a pick-up maneuver of a previous parking maneuver or a parking maneuver of a previous pick-up maneuver.

The stored data may indicate a previously performed user-initiated manipulation.

The control means may be arranged to control the notification output means to notify the user in dependence on a previously performed user-initiated manipulation followed by the defined manipulation.

The input device may be arranged to receive a plurality of input signals from a plurality of input sources, the plurality of input signals being selected from at least: an environmental signal indicative of a characteristic in the vicinity of the vehicle; a motion signal indicative of motion of the vehicle; a turn signal indicating a user turning; an event signal indicative of a vehicle event; and a location signal indicating a geographic location.

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

The system may include: an environment sensing device for determining the location of one or more features in the vicinity of the vehicle; and for outputting an ambient signal indicative of the location.

The environment sensing device may be automatically activated based on the vehicle speed parameter.

The environment sensing device may be automatically activated independent of the vehicle speed parameter.

The environment sensing device may be automatically activated based on the vehicle additional parameter.

The environment sensing device may be automatically activated independent of vehicle additional parameters.

The environment sensing device may be automatically activated in accordance with any of the vehicle speed parameters or vehicle additional parameters. For example, reaching an appropriate threshold for any of the vehicle speed parameters or vehicle additional parameters may be sufficient to automatically activate the environment sensing device.

The environment sensing device may be automatically activated independent of any of the vehicle speed parameter or the vehicle additional parameter. Advantageously, the environment sensing means may only require one parameter (e.g. reaching a threshold) to be activated.

The system may include a receiver device. The receiver means may be for receiving a user signal indicative of a user request. The receiver means may be arranged to output the request signal in dependence on the reception of the user signal. The receiver means may be used to receive wired and/or wireless signals indicating a user request, e.g. from a mobile device. Advantageously, a user request originating outside the vehicle may be received in order to allow a defined manoeuvre execution in at least some situations where the occupant is outside the vehicle.

The system may comprise notification means for notifying the user.

According to an aspect of the present invention, there is provided a method of controlling movement of a vehicle to perform a defined maneuver, the method comprising: receiving an input signal indicative of a vehicle parameter, determining, with a control device, a defined maneuver opportunity for performing at least a portion of a defined maneuver by a vehicle; automatically notifying the vehicle user of the determination of the defined maneuver opportunity for the performance of the at least a portion of the defined maneuver independent of the user request for the determination of the defined maneuver opportunity for the performance of the at least a portion of the defined maneuver; wherein the vehicle user is notified of the opportunity upon receipt of an input signal indicative of a vehicle parameter; receiving, with a manipulation output device controlled by a control device, a request signal indicating a user request for defining performance of at least a portion of a manipulation; in accordance with the request signal, a manipulation signal is output with a manipulation output device controlled by the control device to cause the vehicle to perform a limited manipulation.

The vehicle parameter may be a non-speed parameter and may be indicative of at least one of: a state of the vehicle; and the location of the vehicle.

The method may include controlling the notification device to output a notification signal indicative of an opportunity for performance of a portion of the defined maneuver without requiring a user to activate the control device to seek a determination of the opportunity.

The method may comprise notifying a user of the determination of the opportunity upon receipt of an input signal, and the input signal comprises at least one of: an environmental signal indicative of a location of at least one feature in proximity to the vehicle; a motion signal indicative of motion of the vehicle; a steering signal indicating a user steering input; an event signal indicative of a vehicle event; and a position signal indicative of a vehicle position.

The method may include performing a defined maneuver, wherein the defined maneuver is a parking maneuver.

The method may include determining a user-initiated manipulation and notifying the user of an opportunity based on the determination of the user-initiated manipulation.

The method can comprise the following steps: receiving an environmental signal indicative of a location of at least one feature in a vicinity of the vehicle; detecting a vacancy from the ambient signal, the vacancy comprising a vehicle envelope adapted to accommodate a vehicle in a defined maneuver completion location; and determining an opportunity based on the detection of the null.

The vehicle envelope may include a target position adapted to accommodate the vehicle in a defined maneuver completion position. The vehicle envelope may include a target-defined maneuver completion location. The vehicle envelope may be determined from one-dimensional characteristics and/or measurements and/or estimations. The vehicle envelope may be determined from an ambient signal indicative of a length, such as an unobstructed length between features, that is long enough for accommodating the vehicle in a defined maneuver completion position. The vehicle envelope may be determined from two-dimensional characteristics and/or measurements and/or estimations. For example, a vehicle envelope may be determined from an ambient signal indicative of a length (such as a length between features) along which no obstacles are present within a particular width or magnitude perpendicular to the length. The particular width or amplitude may correspond to at least a width or amplitude of the vehicle, such as a width of the vehicle when the vehicle is parked and in a closed configuration (e.g., the vehicle aperture member is closed). The particular width or amplitude may correspond at least to a length of the vehicle, such as a length of the vehicle when the vehicle is parked and in a closed configuration in a vertical position or a parking lot or a fishbone diagonal parking position. The vehicle envelope may include at least one dimension of a parking area and the defined maneuver completion location may be a parking location. The vehicle envelope may correspond to a predefined parking space. The vehicle envelope may include a target length, area or volume for accommodating the vehicle in or on a defined maneuver completion location.

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

The method can comprise the following steps: data is stored in a memory device and an opportunity is determined from the data.

The method may include associating the vehicle parameter with performance of the defined maneuver. The vehicle parameter may be selected from at least two vehicle parameters including at least a vehicle speed parameter and at least one vehicle additional parameter.

The method may include receiving a request signal, wherein the request signal indicates a user request to transfer control from a user to a control device for continuing a user-initiated manipulation as a defined manipulation.

The method can comprise the following steps: detecting a user-initiated manipulation with the control device based on the input signal, notifying the user of the detection of the user-initiated manipulation by the control device; and providing for transfer of control to the control device for the user-initiated manipulation as continuation of the defined manipulation.

The method may include allowing the vehicle to resume user control prior to completion of the defined maneuver to the defined maneuver completion location.

The method may include determining a location of one or more features in a vicinity of the vehicle using the environment sensing device.

The method may include receiving a signal from the mobile device indicating a user request to perform a defined manipulation.

Tenth technique

According to an aspect of the present invention, there is provided a controller arranged to be operable to cause a vehicle to perform a defined maneuver within a void to a defined maneuver complete position, wherein the vehicle is selectively offset in the defined maneuver complete position within the void.

According to an aspect of the present invention, there is provided a controller including: an environment input device for receiving an environment signal indicative of a location of at least one feature in proximity to the vehicle; control means arranged to determine the null in dependence on the ambient signal; the control means is arranged to define at least one defined manoeuvre completion position for the vehicle within the void; user input means for receiving a request signal indicative of a user request; an output device for outputting a manipulation signal to cause the vehicle to perform a defined manipulation to a defined manipulation completion position; wherein the control means is arranged to control the output means to selectively displace the defined manipulation-complete position within the null position. Advantageously, a defined manipulation to a more preferred (not necessarily centrally located or aligned) defined manipulation completion position may be performed.

The controller as described above, wherein: the input means may comprise an electrical input for receiving a signal; the output means may comprise an electrical output for outputting the signal; and the control means may comprise one or more control devices such as electronic processing devices.

The defined maneuver may include a parking maneuver. The parking maneuver may include an in-parking maneuver, such as parking into a space to a fixed location. The parking maneuver may include a pick-up maneuver, such as parking from a fixed location to outside the space. The defined manipulation completion position may include a parking position.

The control means may be arranged to selectively offset the defined manoeuvre completion position in dependence on the request signal. Advantageously, a defined manipulation to a defined manipulation completion position of the offset as selected by the user may be performed.

The control means may be arranged to selectively offset the defined manoeuvre completion position in dependence on a characteristic indicated by the ambient signal. Advantageously, a defined manipulation to a defined manipulation completion position shifted towards or away from the specific feature may be performed.

The control means may be arranged to selectively offset the defined manoeuvre completion position in dependence on the proximity of the feature indicated by the ambient signal to the vehicle. Advantageously, the defined manoeuvre may be performed to position the vehicle a predetermined distance or a minimum or maximum distance from the feature.

The control means may be arranged to selectively bias the defined manoeuvre completion position towards the feature indicated by the ambient signal. Advantageously, a defined manipulation to a more preferred defined manipulation completion position shifted towards the specific feature may be performed.

Alternatively, the control means may be arranged to selectively offset the defined manoeuvre completion position away from the feature indicated by the environment. In at least some examples, the control means may be arranged to bias the vehicle towards the first feature and/or away from the second feature.

The feature against which or according to which the vehicle is offset may comprise a feature for alignment of the vehicle with the feature. For example, the feature to which the vehicle is offset or from which the vehicle is offset may include a feature adjacent and/or aligned with the defined maneuver completion location. The control means may be arranged to determine the feature as a feature for offset and/or alignment. The control means may be arranged to determine whether the feature is an obstacle for avoidance and/or a feature for aligning and/or offsetting a vehicle therewith. For example, the control device may be arranged to determine an orientation of the feature, such as an orientation of at least one surface of the feature and/or an axis (e.g. a longitudinal axis) of the feature. The orientation of the feature may include an angle, such as an angle defining a maneuver completion location and/or a vehicle longitudinal axis and/or a target space or envelope for accommodating the vehicle relative to the target. The control means may be arranged to offset and/or align the vehicle relative to a feature having an orientation, including a particular angle. For example, the control device may be arranged to offset and/or align the vehicle relative to a feature oriented at an angle (relative to a defined manoeuvre completion position and/or vehicle longitudinal axis) below a threshold. The control means may be arranged to determine features having a particular orientation as features for alignment and/or offset. For example, the control means may be arranged to align and offset the vehicle in the defined manoeuvre completion position, the vehicle being aligned and offset relative to the adjacent feature, whereby the adjacent feature has an off angle relative to the original target defined manoeuvre completion position of, for example, less than 5 degrees. The control means may be arranged to determine a feature having another particular orientation, for example a feature above an angular threshold, as an obstacle for avoiding and/or manoeuvring around.

The control means may be arranged to determine the null. The control means may be arranged to define at least one vehicle envelope within the void, the vehicle envelope being adapted to accommodate the vehicle in a defined manoeuvre completion position. The control means may be arranged to define at least one defined manoeuvre completion position for the vehicle within the void.

The vehicle envelope may include a target position adapted to accommodate the vehicle in a defined maneuver completion position. The vehicle envelope may include a target-defined maneuver completion location. The vehicle envelope may be determined from one-dimensional characteristics and/or measurements and/or estimations. The vehicle envelope may be determined from an ambient signal indicative of a length, such as an unobstructed length between features, that is long enough for accommodating the vehicle in a defined maneuver completion position. The vehicle envelope may be determined from two-dimensional characteristics and/or measurements and/or estimations. For example, a vehicle envelope may be determined from an ambient signal indicative of a length (such as a length between features) along which no obstacles are present within a particular width or magnitude perpendicular to the length. The particular width or amplitude may correspond to at least a width or amplitude of the vehicle, such as a width of the vehicle when the vehicle is parked and in a closed configuration (e.g., the vehicle aperture member is closed). The particular width or amplitude may correspond at least to a length of the vehicle, such as a length of the vehicle when the vehicle is parked and in a closed configuration in a vertical position or in a parking lot or fishbone diagonal parking position. The vehicle envelope may include at least one dimension of a parking area and the defined maneuver completion location may be a parking location. The vehicle envelope may correspond to a predefined parking space. The vehicle envelope may include a target length, area or volume for accommodating the vehicle in or on a defined maneuver completion location.

The control means may be arranged to define at least two vehicle envelopes within the void, each vehicle envelope comprising a discretely defined manoeuvre completion position offset within the void.

The vehicle envelopes may not overlap. Alternatively, the vehicle envelopes may overlap.

The vehicle envelopes may extend in respective longitudinal directions adjacent and parallel to each other. Alternatively, the vehicle envelopes may extend along the same longitudinal axis, with the first vehicle envelope being longitudinally offset along the longitudinal axis relative to the second vehicle envelope. In yet another alternative, the vehicle envelopes may be arranged to have non-parallel longitudinal axes, for example wherein a first vehicle envelope has a longitudinal axis that is perpendicular to a longitudinal axis of a second vehicle envelope.

The control device may be arranged to selectively offset the defined manoeuvre completion position in dependence on the position of the vehicle occupant. Advantageously, the offset, such as the direction and/or magnitude (distance and/or angle) of the offset, may be adapted to the position of the vehicle occupant, e.g. whether the vehicle occupant is located inside or outside the vehicle. The user's location may be in a vehicle. For example, where all occupants in a vehicle (e.g., a single or individual vehicle driver occupant, such as a driver) are located in one or more seats on one side of the vehicle (e.g., the left side of a left-driving vehicle), then the offset may be to provide greater vehicle clearance or spacing on that side (e.g., to provide more room for the one or more occupants on that side to access away from/to the vehicle). The position of the occupant may be outside the vehicle. For example, in the absence of an occupant in the vehicle, additional parameters for defining the offset or default offset may be more determined.

The controller may comprise memory means for storing data therein, the control means being arranged to selectively offset the defined manipulation completion positions in dependence on the data. Advantageously, the controller may use historical data, for example associated with one or more of a particular location, scene, user and/or pattern, to determine the offset parameter or offset criterion.

The control means may be arranged to adapt the defined manoeuvre completion position in dependence on an ambient signal indicative of a change in at least one characteristic in the vicinity of the vehicle. Advantageously, the defined manipulation may be adapted during execution, for example in response to an actual change of the feature, such as a movement and/or a detected change of the feature, for example a discovery of a previously undetected parameter of the feature (e.g. a previously masked or undetected void or protrusion, etc.).

The controller may include a notification output device for outputting a notification signal for notifying a user. The control means may be arranged to control the notification output means to notify the user of the determination of the at least one selectable offset-defining manipulation completion position by the control means. Advantageously, the offset and/or a selection of the offset may be displayed to the user and optionally provided to the user.

The request signal may indicate a received signal indicating a user request. The signal indicating the user request may be received wired or wirelessly. Advantageously, in at least some examples, a user may request an offset or at least a characteristic of an offset.

The controller may comprise control means arranged to selectively offset the defined manoeuvre completion position in dependence on a mode of performance of at least a part of the defined manoeuvre. Advantageously, the offset may be adapted to suit the mode. For example, the controller may be arranged to adapt the offset depending on whether the mode is an occupant in-vehicle mode or an occupant out-of-vehicle mode. The controller may comprise control means arranged to adapt the offset in dependence on at least one of: environmental conditions in the vicinity of the vehicle (e.g., precipitation, such as rain, temperature, light level, wind, etc.); the terrain (e.g., road, off-road, flatness of the road, etc.) near the vehicle.

The controller may comprise control means arranged to vary the magnitude of the offset. The size may include an angle and/or a distance.

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

The system may include an environment sensing device for determining a location of at least one feature in the vicinity of the vehicle.

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

According to an aspect of the present invention, there is provided a method of controlling movement of a vehicle to perform a defined maneuver, the method comprising: receiving an environmental signal indicative of a location of at least one feature in a vicinity of the vehicle; determining a null position from the ambient signal; defining at least one defined maneuver completion location for the vehicle within the void; selectively offsetting a defined manipulation-completed position within the void; and outputting the manipulation signal to cause the vehicle to perform a defined manipulation to a defined manipulation completion position.

The method may include receiving a request signal indicative of a user request and selectively offsetting a defined maneuver completion location based on the request signal.

The method may include selectively offsetting the defined maneuver completion location based on the characteristic indicated by the environmental signal.

The method may comprise notifying a user of the determination of the at least one offset-defined manipulation-completion location, the offset being optionally selectable.

Eleventh technique

According to an aspect of the invention, there is provided a controller arranged to operatively cause a vehicle to perform a defined maneuver having a transition phase during which control may be transferred to a user to allow the vehicle to transition from the defined maneuver to a user-controlled post-maneuver vehicle movement.

According to an aspect of the present invention, there is provided a controller including: an input device for receiving a user control request signal indicating a user request for control; an output device for outputting a manipulation signal to cause the vehicle to perform a defined manipulation to a defined manipulation completion position; and control means arranged to control the output means to cause the vehicle to perform a defined manoeuvre; wherein the control means is arranged to determine a transition phase of the defined manoeuvre (during which control may be transferred to the user) on receipt of a user control request signal to allow the vehicle to transition from the defined manoeuvre to a user controlled post-manoeuvre vehicle movement. Advantageously, the defined manipulation may be performed with control transferred to the user before the defined manipulation to the defined manipulation completion position is completed.

The controller as described above, wherein: the input means may comprise an electrical input for receiving a signal; the output means may comprise an electrical output for outputting the signal; and the control means may comprise one or more control devices such as electronic processing devices.

The defined maneuver may include a parking maneuver. The parking maneuver may include an in-parking maneuver, such as parking into a space to a fixed location. The parking maneuver may include a pick-up maneuver, such as parking from a fixed location to outside the space. The defined manipulation completion position may include a parking position.

A transition phase may be defined between a transition position defining a maneuver and a completion position, and the controller is arranged to allow transfer of control to the user at any point of the transition phase between the transition position and the completion position defining the maneuver. Advantageously, the transition stage is defined between two locations to provide more than a single transition location, thereby allowing the transition to be made at multiple locations.

The controller may include a notification output for outputting a notification signal for notifying a user of the start of the transition phase. Advantageously, the user may be explicitly alerted to the possibility of transferring control.

The control means may be arranged to provide a stepwise transition to user control. Advantageously, assistance may be provided during the staged control transfer to allow for smooth transitions.

The control device may be arranged to determine the transition phase such that no change in the lateral movement direction of the vehicle is required during the transition phase to complete the defined manoeuvre to the defined manoeuvre complete position. Advantageously, the vehicle can be moved from any position of the transition phase to the defined manoeuvre complete position without any change in lateral direction (e.g. without changing or reversing the movement of the steering wheel).

The control device may be arranged to determine the transition phase such that no change in the longitudinal direction of movement of the vehicle is required during the transition phase to complete the defined manoeuvre to the defined manoeuvre complete position. Advantageously, the controller may ensure that the vehicle may continue in a single longitudinal direction (e.g. forward, without reversing) after the transition phase has commenced, such that only a single continuous longitudinal movement of the vehicle is required (e.g. no gear and/or longitudinal direction change is required).

The controller may include an input device for receiving an environmental signal indicative of a location of one or more features in proximity to the vehicle; and wherein the control means is arranged to determine the transition stage to correspond to a part of the defined manoeuvre after the feature in the vicinity of the vehicle has been avoided. Advantageously, the control means may be arranged to prevent transfer of control to the user before the feature is avoided, for example to prevent or mitigate contact of the vehicle with the feature.

The control means may be arranged to be overridden at any point defining the manoeuvre, including outside (e.g. before) the transition phase. Advantageously, the control means may be arranged to allow the user to interrupt the defined manoeuvre at any time. The override may interrupt the defined maneuver to cancel the defined maneuver.

The control means may be arranged to allow transfer of control to the user during the transition phase without interrupting the defined manipulation. Advantageously, the control device can effect a transfer of control without completely cancelling the constraining manoeuvre.

The control means may be arranged to allow control of the output signal to the launch control means to be transferred to the user during at least a launch control portion of the transition phase. Advantageously, the transition phase may define a specific portion, whereby the control of the speed or acceleration of the vehicle may be at least partially transferred.

The control means may be arranged to allow control of the output signal to the steering control means to be transferred to the user during at least the steering control portion of the transition phase. Advantageously, the transition phase may define a specific portion, whereby control of steering of the vehicle may be at least partially transferred. The steering control portion may be different from the launch control portion. In at least some examples, the allowable start of the control transfer for steering may not be different than the allowable start of the control transfer for speed or acceleration of the vehicle. For example, where further steering is still required to avoid features near the vehicle, but no change in longitudinal direction is required, at least partial control of vehicle speed may be transferred to the user, while control of steering is still entirely through or with the control device.

The controller may include an input device for receiving a request signal indicative of a received signal indicative of a user request. The request signal may be indicative of a signal indicative of a user request, e.g., from a mobile device of the user, received either wired or wirelessly. Advantageously, this may allow for efficient instruction (e.g., remote instruction with a user outside the vehicle) of the vehicle from the user's mobile device.

The user may include an occupant. The user may include a driver of the vehicle. The user may be located in a vehicle. For example, the user may be located outside the vehicle for at least a portion of the performance of the defined maneuver. The vehicle may include one or more non-driver occupants. In at least some examples, one or more users and/or occupants may be located in and/or outside of the vehicle.

In the absence of user input during the transition phase, the control means may be arranged to: the control output device controls the vehicle to perform a defined maneuver to a defined maneuver completion location to subsequently transfer control to the user after completion of the defined maneuver. Advantageously, the defined manipulation can still be done without any transfer of control.

The control means may be arranged to determine the null. The control means may be arranged to define at least one vehicle envelope within the void, the vehicle envelope being adapted to accommodate the vehicle in a defined manoeuvre completion position. The control means may be arranged to define at least one defined manoeuvre completion position for the vehicle within the void.

The vehicle envelope may include a target position adapted to accommodate the vehicle in a defined maneuver completion position. The vehicle envelope may include a target-defined maneuver completion location. The vehicle envelope may be determined from one-dimensional characteristics and/or measurements and/or estimations. The vehicle envelope may be determined from an ambient signal indicative of a length, such as an unobstructed length between features, that is long enough for accommodating the vehicle in a defined maneuver completion position. The vehicle envelope may be determined from two-dimensional characteristics and/or measurements and/or estimations. For example, a vehicle envelope may be determined from an ambient signal indicative of a length (such as a length between features) along which no obstacles are present within a particular width or magnitude perpendicular to the length. The particular width or amplitude may correspond to at least a width or amplitude of the vehicle, such as a width of the vehicle when the vehicle is parked and in a closed configuration (e.g., the vehicle aperture member is closed). The particular width or amplitude may correspond at least to a length of the vehicle, such as a length of the vehicle when the vehicle is parked and in a closed configuration in a vertical position or in a parking lot or fishbone diagonal parking position. The vehicle envelope may include at least one dimension of a parking area and the defined maneuver completion location may be a parking location. The vehicle envelope may correspond to a predefined parking space. The vehicle envelope may include a target length, area or volume for accommodating the vehicle in or on a defined maneuver completion location.

The control means may be arranged to define at least two vehicle envelopes within the void, each vehicle envelope comprising a discretely defined manoeuvre completion position offset within the void.

The two vehicle envelopes may not overlap. Alternatively, the two vehicle envelopes may overlap.

The two vehicle envelopes may extend in respective longitudinal directions adjacent and parallel to each other. Alternatively, the two vehicle envelopes may extend along the same longitudinal axis, wherein the first vehicle envelope is longitudinally offset along the longitudinal axis relative to the second vehicle envelope. In yet another alternative, the vehicle envelopes may be arranged to have non-parallel longitudinal axes, for example wherein a first vehicle envelope has a longitudinal axis that is perpendicular to a longitudinal axis of a second vehicle envelope.

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

The system may include a user input device for receiving a user request for control transfer.

The system may comprise notification means for notifying a user of the start of the transition phase.

The system may include a receiver device for receiving a signal indicative of a user request for movement of the vehicle and outputting a request signal in dependence thereon. The receiver means may be for receiving a wired and/or wireless signal from the mobile device indicating a user request. Advantageously, a user request originating outside the vehicle may be received to allow mode selection in at least some circumstances when the occupant is outside the vehicle.

The system may include an environment sensing device for determining a location of at least one feature in the vicinity of the vehicle and for outputting an environmental signal indicative of the location.

According to an aspect of the present invention, there is provided a method of controlling movement of a vehicle to perform a defined maneuver, the method comprising: controlling, with the control device, the output device to cause the vehicle to perform the restricted maneuver; determining a transition phase defining a maneuver during which control may be transferred to a user upon receipt of a user control request signal; in accordance with receipt of a user control request signal during a transition phase, control is transferred to the user to allow the vehicle to transition from a defined maneuver to a user-controlled post-maneuver vehicle movement.

The method may include allowing the vehicle to transition to user control prior to completion of the defined maneuver.

The method can comprise the following steps: receiving an environmental signal indicative of a location of one or more features in a vicinity of the vehicle; avoiding features in the vicinity of the vehicle during a pre-transition phase of the defined maneuver; and initiating the transition phase after avoiding the feature near the vehicle.

The method may include determining a location of one or more features with an environment sensing device.

The method can comprise the following steps: the transition phase is initiated when the defined manoeuvre can be completed without a change in the longitudinal direction of movement of the vehicle.

The method may include receiving a signal from the mobile device indicating a user request to perform a defined manipulation.

The method may include overriding the control device at any stage of the defined maneuver.

Twelfth technique

According to an aspect of the invention, there is provided a controller arranged to be operable to cause a vehicle to continue a user-initiated maneuver as a defined maneuver.

According to an aspect of the present invention, there is provided a controller including: input means for receiving an input signal; a manipulation output device for outputting a manipulation signal to cause the vehicle to perform a defined manipulation; a control device arranged to control the steering output device; notification output means for outputting a notification signal for notifying a user; and request input means for receiving a request signal indicative of a user request for transferring control from the user to the control means to continue the user-initiated manipulation as a defined manipulation; the control means is arranged to control the manipulation output means to perform said defined manipulation from an end position of the user-initiated manipulation in dependence of the request signal. Advantageously, the vehicle may be caused to perform a defined maneuver from a non-specific defined maneuver start position (e.g., corresponding to an end position of any user-initiated maneuver or a defined maneuver start position that is not specified).

The controller as described above, wherein: the input means may comprise an electrical input for receiving a signal; the output means may comprise an electrical output for outputting the signal; and the control means may comprise one or more control devices such as electronic processing devices.

The defined maneuver may include a parking maneuver. The parking maneuver may include an in-parking maneuver, such as parking into a space to a fixed location. The parking maneuver may include a pick-up maneuver, such as parking from a fixed location to outside the space. The defined manipulation completion position may include a parking position.

The user-initiated maneuver may comprise a parking maneuver. The user-initiated parking maneuver may include, for example, a partial parking maneuver to an incomplete parking location (e.g., not completely within or outside of the parking space). The parking maneuver may include an in-parking maneuver, such as parking into a space to a fixed location. The parking maneuver may include a pick-up maneuver, such as parking from a fixed location to outside the space. The user-initiated maneuver ending location may include a fixed vehicle location.

The control means may be arranged to detect performance of a user-initiated manipulation in dependence on the input signal. The control means may be arranged to control the notification output means to notify the user of the detection of the user-initiated manipulation by the control means. Advantageously, the user may be alerted to the possibility of performing the defined manipulation.

The control means may be arranged to control the notification output means to automatically output a notification signal relating to detection of user-initiated manipulation by the control means. The control means may be arranged to provide the user with a continuation of the defined manipulation. Advantageously, the user may be provided with the possibility to perform a defined manipulation without having to explicitly request or seek this possibility.

The control means may be arranged to control the notification output means to output a notification signal for the manipulation of the output means to be controlled by the control means independently of a user request. Advantageously, the controller may be configured to output the notification signal automatically without the vehicle user activating the control device. For example, the user may additionally be unaware of the possibility of performing a defined manipulation (e.g., in a particular scenario), such that allowing output of a notification signal independent of a user request may allow for more or more useful possibilities of a defined manipulation to be provided to the user (e.g., as compared to only those explicitly sought by the user in advance).

The control means may be arranged to: controlling the notification output device based at least in part on an input signal received prior to the user-initiated manipulation to an end position of the user-initiated manipulation. Advantageously, the control device is able to determine from the previous input signals whether one or more defined manipulations are possible (for example in case the previous input signals comprise data which is no longer available via the respective input device).

The control device may be configured to inhibit the notification output device from notifying a vehicle user of, for example, detection of a user-initiated manipulation by the control device. Advantageously, the user can customize the control device. For example, in a scenario or type of scenario in which the user may not wish to perform a defined maneuver (e.g., where the user has a different identity, such as when the vehicle has a different driver), the control device may be configured not to notify the user.

The control means may be arranged to control the manoeuvre output means to cause the vehicle to follow a planned trajectory from an end position of the user initiated manoeuvre to a defined manoeuvre completion position. Advantageously, the control device may predetermine a trajectory for the vehicle to perform a defined maneuver.

The planned trajectory may include at least partial correction to a user-initiated manipulation performed prior to the user request. Advantageously, at least a portion of the user-initiated manipulation may be corrected or undone. For example, in the event that a user does not ideally enter or partially enter a parking space or location in a user-initiated parking maneuver, for example when the angle of the vehicle relative to the space or location is inappropriate, the control device may be arranged to more appropriately position the vehicle in the space or location; and/or arranged to move the vehicle away from the parking space or parking position (e.g. to completely resume parking in accordance with a defined operation).

The control means may be arranged to control the manoeuvre output means to cause the vehicle to perform a reversal of at least part of a user-initiated manoeuvre performed before the defined manoeuvre.

The controller may comprise memory means for storing data therein, the memory means being arranged to store data received via the input means.

The stored data may indicate a defined manipulation that was previously performed.

The control means may be arranged to control the manoeuvre output means to cause the vehicle to perform a repetition of at least part of a previously performed defined manoeuvre. The execution may be selective.

The control means may be arranged to control the manoeuvre output means to cause the vehicle to perform a reversal of at least part of a previously performed defined manoeuvre. Inversion may include reverse steering or inversion. For example, the reverse may include a pick-up maneuver of a previous parking maneuver or a parking maneuver of a previous pick-up maneuver.

The stored data may indicate a previously performed user-initiated manipulation.

The control means may be arranged to control the notification output means to notify the user in dependence on a previously performed user-initiated manipulation followed by the defined manipulation.

The control means may be arranged to control the manipulation output means to perform a defined manipulation from a user-defined start position for the defined manipulation, the user-defined start position for the defined manipulation corresponding to a user-initiated manipulation end position. The starting position for a defined maneuver may comprise an intermediate maneuver position, e.g. an intermediate maneuver position partially in and/or out of the neutral maneuver.

The input device may be arranged to receive a plurality of input signals from a plurality of input sources, the plurality of input signals being selected from at least: an environmental signal indicative of a characteristic in the vicinity of the vehicle; a motion signal indicative of motion of the vehicle; a turn signal indicating a user turning; an event signal indicative of a vehicle event; and a location signal indicating a geographic location.

The controller may include an input device for receiving a request signal indicative of a received signal indicative of a user request. The request signal may be indicative of a signal indicative of a user request, e.g., from a mobile device of the user, received either wired or wirelessly. Advantageously, this may allow for efficient instruction (e.g., remote instruction with a user outside the vehicle) of the vehicle from the user's mobile device.

The user may include an occupant. The user may include a driver of the vehicle. The user may be located in a vehicle. For example, the user may be located outside the vehicle for at least a portion of the performance of the defined maneuver. The vehicle may include one or more non-driver occupants. In at least some examples, one or more users and/or occupants may be located in and/or outside of the vehicle.

The control means may be arranged to determine the null. The control means may be arranged to define at least one vehicle envelope within the void, the vehicle envelope being adapted to accommodate the vehicle in a defined manoeuvre completion position. The control means may be arranged to define at least one defined manoeuvre completion position for the vehicle within the void.

The vehicle envelope may include a target position adapted to accommodate the vehicle in a defined maneuver completion position. The vehicle envelope may include a target-defined maneuver completion location. The vehicle envelope may be determined from one-dimensional characteristics and/or measurements and/or estimations. The vehicle envelope may be determined from an ambient signal indicative of a length, such as an unobstructed length between features, that is long enough for accommodating the vehicle in a defined maneuver completion position. The vehicle envelope may be determined from two-dimensional characteristics and/or measurements and/or estimations. For example, a vehicle envelope may be determined from an ambient signal indicative of a length (such as a length between features) along which no obstacles are present within a particular width or magnitude perpendicular to the length. The particular width or amplitude may correspond to at least a width or amplitude of the vehicle, such as a width of the vehicle when the vehicle is parked and in a closed configuration (e.g., the vehicle aperture member is closed). The particular width or amplitude may correspond at least to a length of the vehicle, such as a length of the vehicle when the vehicle is parked and in a closed configuration in a vertical position or in a parking lot or fishbone diagonal parking position. The vehicle envelope may include at least one dimension of a parking area and the defined maneuver completion location may be a parking location. The vehicle envelope may correspond to a predefined parking space. The vehicle envelope may include a target length, area or volume for accommodating the vehicle in or on a defined maneuver completion location.

The control means may be arranged to define at least two vehicle envelopes within the void, each vehicle envelope comprising a discretely defined manoeuvre completion position offset within the void.

The two vehicle envelopes may not overlap. Alternatively, the two vehicle envelopes may overlap.

The two vehicle envelopes may extend in respective longitudinal directions adjacent and parallel to each other. Alternatively, the two vehicle envelopes may extend along the same longitudinal axis, wherein the first vehicle envelope is longitudinally offset along the longitudinal axis relative to the second vehicle envelope. In yet another alternative, the vehicle envelopes may be arranged to have non-parallel longitudinal axes, for example wherein a first vehicle envelope has a longitudinal axis that is perpendicular to a longitudinal axis of a second vehicle envelope.

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

The system may include an environment sensing device for determining a location of one or more features in the vicinity of the vehicle and for outputting an environmental signal indicative of the location.

The system may include a receiver device. The receiver means may be for receiving a user signal indicating a user request for continuing the user-initiated manipulation as a defined manipulation with the manipulation output means controlled by the control means. The receiver means may be arranged to output the request signal in dependence on the reception of the user signal. The receiver means may be used to receive wired and/or wireless signals indicating a user request, e.g. from a mobile device. Advantageously, a user request originating outside the vehicle may be received in order to allow a defined manoeuvre execution in at least some situations where the occupant is outside the vehicle.

The system may comprise notification means for notifying the user.

According to an aspect of the present invention, there is provided a method of controlling movement of a vehicle to perform a defined maneuver, the method comprising: performing a user-initiated manipulation to a user-initiated manipulation end location; receiving a request signal indicative of a user request for transferring control from a user to a control device to continue a user-initiated manipulation as a defined manipulation; the manipulation output means is controlled by the control means to output a manipulation signal to cause the vehicle to perform a defined manipulation from a user-initiated manipulation end position.

The method can comprise the following steps: receiving an input signal; and outputting a notification signal for notifying a user.

The method can comprise the following steps: detecting a user-initiated manipulation with the control device based on the input signal, notifying the user of the detection of the user-initiated manipulation by the control device; and providing for transfer of control to the control device for continuing the user-initiated manipulation as a defined manipulation.

The method may include allowing the vehicle to resume user control prior to completion of the defined maneuver to the defined maneuver completion location.

The method may include determining a location of one or more features in a vicinity of the vehicle using the environment sensing device.

The method may include receiving a signal from the mobile device indicating a user request to perform a defined manipulation.

For all techniques, 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.

For all techniques, according to an aspect of the present invention, computer software is provided which, when executed by a processing device, is arranged to perform a method according to an aspect of the present 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 one or more of the controllers described herein may suitably comprise a control unit or computing 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 contained or hosted in different control units or controllers. As used herein, the term "controller" or "control unit" will be understood to include a single control unit or controller and a plurality of control units or controllers in a control system that operate together to provide any of the stated control functions. To configure the controller, an appropriate set of instructions may be provided that, when executed, cause the control unit or computing device to implement the control techniques specified herein. The set of instructions may suitably be embodied in the one or more electronic processors. Alternatively, the set of instructions may be provided as software stored on one or more memories associated with the controller for execution on the computing device. The first controller may be implemented in software running on one or more processors. One or more other controllers may be implemented in software running on one or more processors, optionally with the first controller being implemented in software running on the same one or more processors. Other suitable arrangements may also be used.

Within the scope of the present application, it is expressly stated that the various aspects, embodiments, examples and alternatives set forth in the preceding paragraphs, in the claims and/or in the following description and drawings, and in particular the various features thereof, may be employed individually or in any combination. That is, features of all embodiments and/or any embodiments may be combined in any manner and/or combination unless such features are incompatible. The applicant reserves the right to amend any originally filed claim or to file any new claim accordingly, including the right to amend any originally filed claim to refer to any other claim and/or to incorporate any feature of any other claim, although not originally claimed in that manner.

The twelve primary techniques mentioned above may be used individually or together in any practical combination.

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. 1a shows a vehicle relative to features near the vehicle;

FIG. 1b shows a vehicle in another scenario with respect to features near the vehicle;

FIG. 2 illustrates a controller according to an embodiment of the present invention;

FIG. 3 illustrates a system according to an embodiment of the invention;

FIG. 4 illustrates a method according to an embodiment of the invention;

FIG. 5 shows a vehicle according to an embodiment of the invention;

FIG. 6 is a vehicle according to an embodiment of the present invention;

FIG. 7a shows a vehicle relative to features near the vehicle;

FIG. 7b shows the vehicle in another scenario with respect to this feature;

FIG. 7c shows the vehicle in another scenario with respect to this feature;

FIG. 8 illustrates a controller according to an embodiment of the present invention;

FIG. 9 illustrates a system according to an embodiment of the invention;

FIG. 10 illustrates a method according to an embodiment of the invention;

fig. 11a shows a vehicle according to an embodiment of the invention in a scenario based on fig. 7 a;

fig. 11b shows a vehicle according to an embodiment of the invention in a scenario based on fig. 7 b;

11c, 11d and 11e show the vehicle in a scenario based on FIG. 7 c;

FIG. 12 is a vehicle according to an embodiment of the invention;

FIG. 13a shows a vehicle relative to features near the vehicle;

FIG. 13b shows the vehicle in another scenario with respect to features near the vehicle;

FIG. 14 shows a controller according to an embodiment of the invention;

FIG. 15 shows a system according to an embodiment of the invention;

FIG. 16 illustrates a method according to an embodiment of the invention;

fig. 17 shows movement of a vehicle according to an embodiment of the invention;

FIG. 18 is a vehicle according to an embodiment of the invention;

FIG. 19 shows the vehicle in an ambient condition near the vehicle;

FIG. 20 shows a controller according to an embodiment of the invention;

FIG. 21 illustrates a system according to an embodiment of the invention;

FIG. 22 illustrates a method according to an embodiment of the invention;

FIG. 23 shows a vehicle according to an embodiment of the invention;

FIG. 24 is a vehicle according to an embodiment of the invention;

FIG. 25a shows a vehicle relative to features near the vehicle;

FIG. 25b shows the vehicle relative to features near the vehicle in another scenario;

FIG. 26 shows a controller according to an embodiment of the invention;

FIG. 27 shows a system according to an embodiment of the invention;

FIG. 28 illustrates a method according to an embodiment of the invention;

FIG. 29a illustrates movement of a vehicle according to an embodiment of the present invention;

FIG. 29b shows movement of the vehicle in another scenario;

FIG. 30 is a vehicle according to an embodiment of the invention;

FIG. 31 shows the vehicle relative to the terrain in the vicinity of the vehicle;

FIG. 32 shows a controller according to an embodiment of the invention;

FIG. 33 shows a system according to an embodiment of the invention;

FIG. 34 illustrates a method according to an embodiment of the invention;

FIG. 35 shows a vehicle according to an embodiment of the invention;

FIG. 36 is a vehicle according to an embodiment of the invention;

FIG. 37a shows a vehicle relative to features near the vehicle;

FIG. 37b shows the vehicle in another scenario with respect to features near the vehicle;

FIG. 38 shows a controller according to an embodiment of the invention;

FIG. 39 shows a system according to an embodiment of the invention;

FIG. 40 illustrates a method according to an embodiment of the invention;

fig. 41a to 41e sequentially show a vehicle that performs a restricted maneuver according to an embodiment of the present invention;

FIG. 41f shows the vehicle after performing a portion of the defining maneuver shown as an alternative to that shown in FIGS. 41d and 41 e;

FIG. 41g shows the position of the vehicle after movement of the vehicle in a scenario similar to FIG. 37b, according to an embodiment of the invention;

FIG. 41h shows the position of the vehicle after another movement of the vehicle in a scenario similar to FIG. 37b, in accordance with an embodiment of the present invention;

FIG. 41i shows the position of a vehicle according to an embodiment of the invention after a defined maneuver in another scenario;

FIG. 41j shows the position of the vehicle according to an embodiment of the present invention after a defined maneuver under a scenario similar to FIG. 41 i;

FIG. 42 is a vehicle according to an embodiment of the invention;

FIG. 43 shows a vehicle relative to features near the vehicle;

FIG. 44 shows a controller according to an embodiment of the invention;

FIG. 45 shows a system according to an embodiment of the invention;

FIG. 46 illustrates a method according to an embodiment of the invention;

fig. 47a, 47b, 47c and 47d illustrate movement of a vehicle according to an embodiment of the present invention;

FIG. 48 is a vehicle according to an embodiment of the invention;

FIG. 49a shows a vehicle relative to features near the vehicle;

FIG. 49b shows the vehicle in another scenario with respect to features near the vehicle;

FIG. 50 illustrates a controller according to an embodiment of the present invention;

FIG. 51 illustrates a system according to an embodiment of the invention;

FIG. 52 illustrates a method according to an embodiment of the invention;

FIG. 53a illustrates movement of a vehicle according to an embodiment of the present invention;

FIG. 53b illustrates movement of a vehicle according to an embodiment of the present invention under another scenario;

FIG. 54 is a vehicle according to an embodiment of the invention;

FIG. 55a shows a vehicle relative to features near the vehicle;

FIG. 55b shows the vehicle relative to the features under another scenario;

FIG. 56 illustrates a controller according to an embodiment of the present invention;

FIG. 57 illustrates a system according to an embodiment of the invention;

FIG. 58 illustrates a method according to an embodiment of the invention;

fig. 59a shows a vehicle according to an embodiment of the invention in a scenario based on fig. 55 a;

fig. 59b, 59c and 59d show the vehicle in the scenario based on fig. 55 b;

FIG. 60 is a vehicle according to an embodiment of the invention;

FIG. 61 shows a vehicle relative to features near the vehicle;

FIG. 62 illustrates a controller according to an embodiment of the invention;

FIG. 63 illustrates a system according to an embodiment of the invention;

FIG. 64 illustrates a method according to an embodiment of the invention;

fig. 65a, 65b, 65c and 65d sequentially show a vehicle performing a restricted maneuver based on the scenario of fig. 61;

FIG. 66 is a vehicle according to an embodiment of the invention;

FIG. 67a shows a vehicle relative to features near the vehicle;

FIG. 67b shows a vehicle in another scenario with respect to features near the vehicle;

FIG. 68 shows a controller according to an embodiment of the invention;

FIG. 69 illustrates a system according to an embodiment of the invention;

FIG. 70 illustrates a method according to an embodiment of the invention;

FIG. 71a shows movement of a vehicle according to an embodiment of the invention;

FIG. 71b shows movement of a vehicle according to an embodiment of the invention in another scenario; and

fig. 72 is a vehicle according to an embodiment of the invention.

Detailed Description

First technique

Fig. 1a and 1b show a vehicle 1110 according to an embodiment of the present invention in two different scenarios. In both scenarios, the vehicle 1110 is shown in a defined maneuver completion position, each scenario having a spacing 1192 of the vehicle 1110 in a closed configuration relative to a feature 1125 near the vehicle 1110, as will be explained.

In fig. 1(a), the vehicle 1110 is in a limited manipulation completion position where a limited manipulation has been performed in the occupant in-vehicle mode. The defined maneuver completion position of FIG. 1a is intended to be a parking position of the vehicle 1110, whereby an occupant may exit and/or enter the vehicle 1110 via a vehicle aperture accessed by opening the vehicle aperture member 1188. The vehicle 1110 is shown relative to a feature 1125 near the vehicle 1110. In this example, the feature 1125 is an object that is substantially parallel to the central longitudinal axis 1112 of the vehicle 1110 in the defined maneuver complete position, i.e., substantially parallel to a wall of a side of the vehicle 1110, e.g., the left side thereof. The object is not limited to being a wall 1125, and may be, for example, a bollard, wall or other object at, on or adjacent to the ground of the vehicle 1110, such as a road. At the defined maneuver completion position, a space 1192 is provided between the vehicles 1110 in the closed configuration. In fig. 1(a), a space 1192 is a space that enables vehicle aperture member 1188 to open, here shown as having a space 1190 between vehicle 1110 of fig. 1(a) in an open configuration and a feature near the vehicle, here shown as an adjacent object 1140, such as an adjacent vehicle.

In fig. 1(b), the vehicle 1110 is in a position intended to be a parking location for the vehicle 1110, thereby restricting access to or via the vehicle aperture. In fig. 1(b), the vehicle 1110 is again shown relative to the feature 1125 and adjacent objects 1140 near the vehicle 1110, where the adjacent objects 1140 and the feature 1125 are closer together than in fig. 1(a), such that the void 1172 and the vehicle envelope 1174 between them are smaller. In the scenario shown in fig. 1(b), the opening of the vehicle aperture member 1188 is prevented or at least restricted by the adjacent feature 1125 and the object 1140, such that the vehicle 1110 is shown in a closed configuration in fig. 1 (b). Thus, it may be difficult or even prevented for the occupant to enter and/or exit the vehicle.

Embodiments of the present invention aim to ameliorate one or both of these problems.

In both cases shown in fig. 1(a) and (b), it should be understood that the defined maneuver may be a maneuver of the vehicle 1110, the maneuver of the vehicle 1110 being performed automatically by the vehicle 1110, i.e., under control of one or more systems of the vehicle 1110. The defined maneuver may be considered to be performed automatically by the vehicle 1110, or at least semi-autonomously. In fig. 1(a) and 1(b), the defined maneuver may be a parking maneuver to control the vehicle 1110 to drive into a parking structure or space bounded by the adjacent feature 1125 and the object 1140.

To perform the defined maneuver, the vehicle 1110 includes an environment sensing device for determining the location of the feature 1125 near the vehicle 1110. The environment sensing means may comprise one or more sensing devices or imaging devices. One or more sensing devices may emit radiation and receive radiation reflected from features in the vicinity of the vehicle, e.g., ultrasonic sensing devices, although it should be understood that the invention is not limited in this respect. Such an environmental sensing device has a minimum distance that can determine the accuracy of the location of the feature 1125 due to, for example, the resolution of the imaging device or the signal-to-noise ratio of the sensing device.

The one or more characteristics sensed by the environment sensing device may be, for example, having a practical and/or perceptual impact on the performance of the defined manipulation, e.g., physically and/or psychologically affecting the user's experience of the performance of the defined manipulation.

In fig. 1(a), the vehicle 1110 is in a limited manipulation completion position where a limited manipulation has been performed in the occupant in-vehicle mode. In fig. 1(b), the vehicle 1110 is in a defined maneuver completion position, at which a defined maneuver has been performed in an occupant out-of-vehicle mode, which is intended to be a parking position of the vehicle 1110, thereby restricting access to or via the vehicle aperture.

In both cases, it may be advantageous to perform one or more maneuvers when the person controlling the vehicle 1110 is outside the vehicle 1110. For example, after performing a defined maneuver (e.g., where feature 1125 is a wall or other obstruction with respect to opening a door of a vehicle), access to vehicle 1110 may be restricted in fig. 1(a) or 1 (b). In some scenarios, subsequent performance of the defined maneuver may be performed with different mode availability, e.g., driving the vehicle 1110 away from the parking lot. For example, in a case where an occupant is located in or outside the vehicle 1110 and a defined maneuver may be performed relative to the defined maneuver complete position of fig. 1(a), if the adjacent object 1140 is moved or replaced by another object, thereby reducing the spacing 1190 such that the vehicle orifice member 1188 cannot be sufficiently opened, then one or more occupant in-vehicle modes may not be available.

In fig. 1(a) and 1(b), the vehicle 1110 is shown with a vehicle heading indicated by arrow 1114, and as can be appreciated by fig. 1(b), among other things, the vehicle envelope 1174 may correspond to a null 1172. As will be further explained, the characteristics, e.g., size, of the nulls 1172 can be a determining factor in the suitability of the mode or modes for performing the defined manipulation. As described herein, no control device is required to distinguish or specifically distinguish the null 1172 from the vehicle envelope 1174. Thus, the evaluation of the suitability of one or more modes may be purely based on the nulls 1172 or the vehicle envelope 1174 without requiring discrete steps for each of the nulls 1172 and the vehicle envelope 1174. For example, the control device is arranged to: the void 1172 is determined to be of one or more sufficient size to inherently include a vehicle envelope 1174 adapted to accommodate the vehicle 1110 in a defined maneuver complete position in a first mode, such as an occupant in an out-of-vehicle mode. The control means is arranged to determine: whether one or more of the void 1172 is sufficiently large to enable the vehicle 1110 to be received in the defined maneuver completed position and to enable access to or via one or more vehicle apertures such that a second mode, such as an occupant in-vehicle mode, may also be appropriate.

Fig. 2 shows a controller 1200 or control unit 1200, for example comprised in the vehicle 1110 of fig. 1, according to an embodiment of the invention.

The controller 1200 includes a control device 1210, an input device 1230, and an output device 1240. In some implementations, the controller includes a memory device 1220, e.g., one or more memory devices 1220 for storing data therein. The output device 1240 may include an electrical output for outputting the steering signal. The steering signal represents an instruction for movement of the vehicle 1110.

Here, the input device 1230 is used to receive environmental signals indicative of features 1125, 1140 in the vicinity of the vehicle 1110. The control device 1210 is arranged to control the output device 1240 to cause the vehicle 1110 to perform at least part of the defined manoeuvre in dependence on the ambient signal. Here, the controller includes a second output device for outputting a mode signal indicating the selectable mode. The control means is arranged to output a mode signal indicative of a plurality of modes. The user may select a mode for performing the defined manipulation from a plurality of selectable modes according to the mode signal. In at least some examples, the second output device includes a notification output device. Advantageously, the user may be notified of the availability of one or more modes, allowing the user to select their preferred mode when available. For example, before performing a defined maneuver to the defined maneuver completion position of fig. 1(b) or performing a subsequent defined maneuver from the defined maneuver completion position of fig. 1(b), the user may be notified that one or more occupants performing the defined maneuver are in an off-vehicle mode. Similarly, prior to performing a defined maneuver to or from the defined maneuver complete position of FIG. 1(a), the user may be notified of the availability of one or more modes of both the occupant outside the vehicle mode and the occupant inside the vehicle mode for performing the one or more defined maneuvers.

Here, the control device 1210 is arranged to provide a mode signal indicating that no mode is available for selection, which corresponds to the vehicle envelope 1174 being unsuitable for accommodating the vehicle 1110. Thus, the user is made aware by the notification that a vehicle envelope or void has been identified, but is not suitable for performing a defined maneuver — for example, where the vehicle envelope is too small for even the occupant performing the defined maneuver to be in an out-of-vehicle mode (e.g., whereby adjacent feature 1125 and object 1140 are closer together than in fig. 1(b), and even in a closed configuration, are not sufficiently sized to accommodate or accommodate vehicle 1110).

To perform the defined maneuver, the vehicle 1110 includes an environment sensing device for determining the location of features in the vicinity of the vehicle 1110. The environment sensing means may comprise one or more sensing devices or imaging devices. One or more sensing devices may emit radiation and receive radiation reflected from features in the vicinity of the vehicle, e.g., ultrasonic sensing devices, although it should be understood that the invention is not limited in this respect. Such an environment sensing apparatus has a minimum distance at which the accuracy of the position of the feature can be determined due to, for example, the resolution of the imaging device or the signal-to-noise ratio of the sensing device.

Once in the defined maneuver completion position (e.g., fig. 1(a) or 1(b)), the user will typically apply the parking brake to hold the vehicle stationary with the engine off.

The control means 1210 may be formed by one or more electronic processing devices, such as an electronic processor. The processor may be operable to execute computer readable instructions stored in the one or more memory devices 1220. The control means 1210 is arranged to control the output means 1240 to output a steering signal in dependence of the ambient signal, as will be explained. In some embodiments, input device 1230 and output device 1240 may be combined, for example, by being formed from I/O cells or interface cells. For example, the controller 1210 may include an interface to a network forming a communication bus of the vehicle. The communication bus may be a communication bus such as an ethernet using a suitable communication protocol, e.g., Internet Protocol (IP), although embodiments of the invention are not limited in this respect.

Here, the input device 1230 comprises an electrical input for receiving an ambient signal. The input device 1230 may include an electrical input for receiving a request signal. In at least some examples, controller 1210 includes a further input device for receiving a request signal indicative of a received signal indicative of a user request. The request signal may be indicative of a signal indicative of a user request, e.g., from a mobile device of the user, received either wired or wirelessly. Advantageously, this may allow effective guidance, e.g. remote guidance of the vehicle, from the user's mobile device. The user request may include a mode selection.

The user may include an occupant. The user may include a driver of the vehicle. The user may be located in a vehicle. For example, the user may be located outside the vehicle for at least a portion of the performance of the defined maneuver. The vehicle may include one or more non-driver occupants. In at least some examples, one or more users and/or occupants may be located in and/or outside of the vehicle.

It should be understood that the controller 1200 may be arranged to perform a portion of the defined manipulation. For example, the user may initiate a manipulation to complete a defined manipulation after transferring control to the controller 1210.

Fig. 3 illustrates a system 1300 according to an embodiment of the invention. The system 1300 includes the controller 1210 described above and shown in fig. 2.

The system 1300 includes an environment sensing device 1330 for determining information about the environment of the vehicle 1110. In particular, an environment sensing device 1330 is provided for determining the location of one or more features in the vicinity of the vehicle 1110. The environment sensing device 1330 is arranged to output an environment signal indicative of the determined characteristic. The environmental signal may be environmental data that may be stored in a memory. The environment sensing means may comprise one or more sensing devices, for example imaging devices such as cameras, or other sensing devices such as LIDAR, ultrasound devices, sonar devices, or the like. The signals output by each of the sensing devices can be used to form a representation of the environment of the vehicle 1110, which is stored in memory for use by other systems of the vehicle 1110.

Here, the vehicle 1110 includes an environment detection device for: determining a location of at least one feature in the vicinity of the vehicle 1110; and outputting an ambient signal indicative thereof. The environment sensing device is arranged to determine the position of a feature such as: for example, a surface mark that may be a painted line representing the perimeter of a parking lot (parking bay); or objects such as walls, pillars, or other vehicles with respect to which the vehicle is required to maneuver. The control device is arranged to determine from the environmental signal the absence of a feature, such as the barrier feature shown here, for example the spacing between an adjacent feature 1125 and the object 1140. Thus, the control device is arranged to determine a vacancy 1172 in which no feature, e.g. no obstructive feature, is located. In the event that the void 1172 is sufficiently large, the control device is arranged to determine a vehicle envelope 1174 suitable for accommodating the vehicle 1110 in the defined maneuver completion position. The vehicle envelope 1174 includes a target location adapted to accommodate the vehicle 1110 in a defined maneuver completion location. Thus, the vehicle envelope 1174 here includes the target defined maneuver completion location. In at least this example, the vehicle envelope 1174 is determined from one-dimensional characteristics and/or measurements and/or estimates. In particular here, the vehicle envelope 1174 is determined from the ambient signal indicating a length, such as an unobstructed length between features 1125, 1140. The unobstructed length is long enough for receiving the vehicle 1110 in the defined maneuver completion location, where the length is the spacing between the features 1125, 1140 that is greater than the width of the vehicle in the defined maneuver completion location. The defined maneuver may include, for example, parking in a parking position.

The controller 1210 of the system 1300 herein includes a defined manipulator. The control device is arranged to control the vehicle 1110 to perform at least one defined manoeuvre. Controller 1210 may include a defined maneuver controller for controlling one or more systems of vehicle 1110 to perform one or more defined maneuvers. The defined manipulation device may be associated with one or more actuators 1350 of the vehicle 1110. One or more actuators 1350 are provided for effecting movement of the vehicle 1110. The actuators may include one or more of a power steering mechanism arranged to provide steering of the wheels of the vehicle 1110 in accordance with signals received from the controller 1210. The second actuator may comprise a dynamic braking mechanism of the vehicle 1110 arranged to actuate brakes of the vehicle in accordance with signals received from the controller 1210. The third actuator comprises a powertrain of the vehicle. The controller 1210 is arranged to control steering of the wheels 1180 relative to the feature.

The system 1300 shown here includes a motion control 1320. The motion control 1320 may be a motion control unit. The motion control 1320 is arranged to receive the steering signal output by the controller 1210. Motion control 1320 is associated with one or more motion units of vehicle 1110, which may form part of a powertrain (not shown) of vehicle 1110. The motion unit may comprise one or more of the following: an internal combustion engine and one or more electric machines of the vehicle 1110. The powertrain is arranged to provide power or torque to cause movement of vehicle 1110 along a longitudinal axis, i.e., forward or reverse movement of vehicle 1100, in accordance with steering signals received from controller 1210. The motion control 1320 is arranged to control the application of torque to one or more wheels of the vehicle 1110 to move the vehicle 1110 along the longitudinal axis of the vehicle, i.e. to move the vehicle generally forward or backward. The torque may comprise a driving torque, i.e. a torque applied in the direction of the desired movement, e.g. forward. The torque may also include a braking torque, i.e. a torque applied to resist a driving torque. In at least some embodiments, the driving torque and the braking torque can be applied simultaneously to provide low speed movement of the vehicle 1110. The braking torque may also be applied at least partially after the driving torque to achieve accurate movement of the vehicle 1110. To enable control of steering, the controller 1210 may communicate with a motion control 1320. Thus, the one or more actuators 1350 may control the direction and movement of the vehicle to perform defined maneuvers. The defined manipulation is performed in accordance with an environmental signal provided by the environment sensing device 1330.

The one or more defined maneuvers that may be performed by the vehicle 1110 under the control of the controller 1210 may include a parking maneuver, such as an in-park maneuver in which the vehicle 1110 is controlled to reach a parking location.

As shown therein, system 1300 includes a receiver device 1310 for receiving a signal 1305. Signal 1305 may be received wirelessly from a mobile device 1390 associated with a person responsible for vehicle 1110. Signal 1305 indicates a user request for vehicle movement of vehicle 1110. The receiver device 1310 is arranged to output a request signal to the input device 1230 of the controller 1210 as described above. The request signal may be output by the receiver device 1310 onto a communication bus of the vehicle 1110, which may communicatively couple the components of the system 1300.

Receiver device 1310 may be in the form of a radio unit 1310. The radio unit 1310 may include a receiver for receiving radio signals 1305 from the mobile device 1390. In some implementations, the radio unit 1310 can also include a transmitter or can be a transceiver 1310 configured to receive radio signals 1305 transmitted from the mobile device 1390 and transmit signals to the mobile device 1390. The radio unit 1103 and the mobile device 1390 may be arranged to provide a wireless local area network via which bi-directional communication may be conducted between the radio unit 1103 and the mobile device 1390. For example, the radio unit 1103 may be arranged to communicate with the mobile device 1390 over wifi (rtm). In alternative embodiments, other radio communication standards may be used for communication. In one example, communication between the radio unit 1103 and the mobile device 1390 is provided via bluetooth (RTM), although other protocols or standards are contemplated.

The mobile device 1390 may be an electronic key fob associated with the vehicle 1110, such as may be used to gain entry and activate or power on the vehicle 1110. In other implementations, the mobile device 1390 may be an electronic device associated with a person responsible for the vehicle 1100, such as a mobile phone, tablet, watch, wearable electronic device, or other computing device associated with a person. Mobile device 1390 can receive user input indicating that a person desires to move vehicle 1110. The user input may be provided in the form of buttons or keys, icons activating a graphical display, gestures, or voice commands. Other forms of user input are also contemplated.

Fig. 4 shows a method 1400 according to an embodiment of the invention. Method 1400 is a method of controlling movement of vehicle 1110. The method 1400 may be formed by the controller 1210 and the system 1300 described above with reference to fig. 2 and 3. The method 1400 will be described, by way of example, with reference to fig. 5, which generally corresponds to the situation illustrated in fig. 1.

The method 1400 generally includes the steps of: receiving 1410, from an environment sensing device 1330, an environmental signal indicative of features 1125, 1140 in the vicinity of the vehicle 1110; and determining 1420 from this the existence of a suitable envelope for accommodating the vehicle in one or more modes of performing the defined maneuver. The control identifies 1430 whether multiple modes are appropriate. In the case where a plurality of modes are appropriate, a mode signal indicating an execution mode suitable for executing the defined manipulation is output. Upon selection of 1435 mode, the control device controls 1440 define the execution of the maneuver.

Referring to fig. 4, the illustrated embodiment of method 1400 includes the following steps: an environmental signal is received 1410 from an environmental sensing device 1330. The controller 1210 determines 1420 whether the environmental signal is indicative of one or more characteristics 1125 in the vicinity of the vehicle 1110 that correspond to a suitable vehicle envelope. If there is no suitable mode, no qualifying manipulation is performed. In at least some examples, such non-execution or unavailability is communicated to the user (e.g., informing the user that no suitable vehicle envelope or vacancy is detected, or that only an unsuitable vehicle envelope or vacancy is detected).

It should be understood that in at least some examples, the defined manipulation may be performed without explicit or discrete mode selection by the user. For example, where only a single mode is available or appropriate, execution of the defined manipulations 1440 may be performed in that mode by default. Also, in at least some examples, there may be a common default mode that provides for performing one or more defined manipulations, e.g., a preferred mode in which multiple modes are available. The default mode may be adaptable, e.g., programmable by a user and/or self-learned, such as to evolve or adapt (e.g., evolve or adapt over time as a user behaves).

The mode may be explicitly selected via user input, such as selection via an interface. In at least some examples, the mode selection can be via a user action. For example, where an occupant is available in an off-vehicle mode, selection of that mode may be achieved, at least in part, by the occupant transitioning from a position in the vehicle to a position outside the vehicle. Such a transition may be detected automatically, for example, via a vehicle system (e.g., a seat sensor, a door sensor, a movement sensor, etc.). Similarly, the selection may be via a vehicle system, for example, operation of an accelerator, gear selection, switches, brakes, indicators, and the like.

The controller 1210 may be arranged to allow user adaptation. For example, a user may be able to at least partially override, program, or adjust controller 1210 such that one or more of the following are implemented: providing an angular offset; a tilt threshold for providing an angular offset; one or more positions in which an angular offset is provided; the direction of the angular offset; and the angle of the angular offset. The controller 1210 may be arranged to be overridden, programmed or adjusted manually, for example to adjust the output of the steering signals. Additionally or alternatively, the controller 1210 may be arranged to automatically or semi-automatically override, program or adjust the output of the manipulation signal, for example by learning from user behavior, such as repetitive user behavior associated with one or more of: inputting a mode; a geographic location; user identity (e.g., the location of the vehicle 1110 is not used simultaneously by multiple users). For example, the controller 1210 may be arranged not to provide the mode when the vehicle is in a particular location, such as a home or garage, where the user has previously overridden, cancelled or rejected the mode.

In fig. 5, similar to fig. 1(a) and 1(b), the vehicle 1110 is shown in a defined maneuver completion location within a vehicle envelope 1174 defined in a void 1172 bounded by adjacent features 1125, 1140. In fig. 5, the vehicle 1110 is shown in a defined maneuver completion position, wherein the vehicle 1110 is in a closed configuration and the spacing between the vehicle 1110 and adjacent features 1125, 1140 is on each side of the vehicle 1110, respectively. As shown here, the closed configuration of the vehicle 1110 includes a folded position of a movable tab 1182 of the vehicle 1110, shown here as a side-view mirror. As shown here, the restricted manipulation performed to reach the restricted manipulation completion position of fig. 5 is performed while the vehicle is in the occupant out-of-vehicle mode. Here, for at least the last part of the restricted maneuver, the restricted maneuver to the position of fig. 5 is performed with the occupant outside the vehicle. It should be appreciated that the dimensions of the vehicle envelope 1174 defined by the void 1172 are such that at least some of the vehicle orifice members 1188 are inaccessible or at least not fully open. Thus, access to and from the vehicle aperture by the vehicle aperture member 1188 is blocked. Further, the dimensions of the vehicle envelope 1174 defined by the void 1172 are such that performance of a defined maneuver may have been impeded or prevented by the vehicle projection 1182 being in a deployed position, such as the vehicle projection 1182 shown in fig. 1(a) and 1 (b). Therefore, the execution of the defined manipulation to the defined manipulation completion position of fig. 5 includes changing the position of the movable protrusion 1182 before or during the defined manipulation according to the environmental signal. Here, the execution mode for executing the limited manipulation includes a vehicle fold tab mode.

As a result of the method 1400, the vehicle may be more advantageously positioned or configured in accordance with performance of the defined maneuver. For example, occupants may be prevented from becoming trapped in the vehicle or damaging the vehicle and/or adjacent objects. It should also be understood that embodiments of the present invention are not limited to use in association with a defined maneuver. It may be useful to provide a selectable mode for performing a portion of the maneuver as a defined maneuver even while parking or while driving by the driver. For example, identifying the available mode to the user may indicate accessibility of a vehicle aperture, thereby assisting the user in selecting performance of a maneuver (e.g., the user may select to manually perform a parking maneuver if the occupant is notified that the in-vehicle mode is available).

Second technique

Fig. 7a, 7b and 7c show a vehicle 2110 according to an embodiment of the invention in three scenarios. In fig. 7a and 7b, the vehicle 2110 is shown with a vehicle forward direction indicated by arrow 2114, which is shown parallel to a central longitudinal axis 2112 of the vehicle 2110. In the illustrated scenario, the vehicle 2110 is shown at a defined maneuver start position. In the particular scenario illustrated in fig. 7a, 7b and 7c, it may be desirable to perform a defined maneuver to park the vehicle 2110 in the defined maneuver complete location in the void 2172.

In fig. 7a, 7b, and 7c, the vehicle 2110 is shown adjacent to the void 2172 where the parking restraint maneuver is to be performed using the vehicle 2110 to enter the void 2172 to perform the restraint maneuver. In fig. 7a, the vehicle 2110 is shown in relation to features 2125 in the vicinity of the vehicle 2110. In this example, the feature 2125 is the following object: the object is a wall parallel to the longitudinal axis 2112 of the vehicle 2110, i.e., generally parallel to one side (e.g., here, the left side) of the vehicle 2110, in a defined maneuver completion position. The object is not limited to being a wall 2125 and may be, for example, a bollard, fence, obstruction, or other object at or adjacent to the void 2172, e.g., to form a boundary thereof. As shown in fig. 7a, 7b and 7c, another feature 2140 defines one end of a void 2172 in the form of a stationary vehicle. Likewise, another feature 2150 defines the opposite end of the void 2172 in the form of another stationary vehicle. It should be understood that in each scenario, although not shown, there may be additional boundaries or restrictions for the void 2172 (e.g., there may be wall features in fig. 7b and 7c similar to the wall 2125 in fig. 7 a). It should be understood that although shown here in plan view, the depicted scene is three-dimensional.

As can be seen in particular from fig. 7c, it may not be clear and/or there may be a number of options for orienting the vehicle in the space indicated by the void 2172.

Embodiments of the present invention aim to ameliorate this problem.

It should be appreciated that in the scenarios shown in fig. 7a, 7b, and 7c, the defined maneuver may be a maneuver of the vehicle 2110, the maneuver of the vehicle 2110 being performed automatically by the vehicle 2110, i.e., under control of one or more systems of the vehicle 2110. The defined maneuver may be considered to be performed automatically or at least semi-autonomously by the vehicle 2110. As shown, in fig. 7a, 7b and 7c, the restricted maneuver may be a parking maneuver to control the vehicle 2110 to enter the parking space.

As will be further explained, it may be advantageous to perform at least a portion of the maneuver when a person controlling the vehicle 2110 is outside the vehicle 2110. For example, in FIG. 7a, access to the vehicle 2110 may be restricted after performing the restricted maneuver.

To perform the defined maneuver, the vehicle 2110 includes an environment sensing device for determining the location of the features 2125, 2140 in the vicinity of the vehicle 2110. The environment sensing means may comprise one or more sensing devices or imaging devices. One or more sensing devices may emit radiation and receive radiation reflected from features in the vicinity of the vehicle, e.g., ultrasonic sensing devices, although it should be understood that the invention is not limited in this respect. Such an environment sensing apparatus has a minimum distance that can determine the accuracy of the location of the feature 2125 due to, for example, the resolution of the imaging device or the signal-to-noise ratio of the sensing device.

In the particular example shown here, the vehicle 2110 includes a portion of the environment sensing device in or on the vehicle movable projection 2182. For example, each side or rear view mirror of vehicle 2110 may have a camera or the like mounted thereto or thereon.

Fig. 8 shows a controller 2200 or a control unit 2200, for example, included in the vehicle 2110 in fig. 7(a) and 7(b), according to an embodiment of the present invention.

The controller 2200 includes a control device 2210, an input device 2230, and an output device 2240. In some embodiments, the controller includes a memory device 2220, such as one or more memory devices 2220 for storing data therein. Here, the input device 2230 is used to receive an environmental signal indicative of features 2125, 2140, 2150 in the vicinity of the vehicle 2110.

The control 2210 is arranged to determine an orientation of a defined maneuver completion position of the vehicle 2110 in dependence on the ambient signal. The output device 2240 is used for outputting a possible defined manipulation completion position signal depending on the determined orientation. Advantageously, the controller 2200 may determine the orientation defining the maneuver completion position based on an environment, such as indicated by an environment signal.

Here, the controller 2200 includes a notification output device for outputting a notification signal indicating a possible limited manipulation completion position. The control device 2210 is arranged to output notification signals indicative of a plurality of possible defined manipulation completion positions. In at least some examples, the defined manipulation completion location is selectable by a user from a plurality of selectable possible defined manipulation completion locations according to a possible defined manipulation completion location signal. Advantageously, the user may be informed of the availability of one or more target defined maneuver completion locations, thereby enabling the user to select their preferred target defined maneuver completion location if available. For example, such as indicated by the dashed line in fig. 11c, the user may be provided with the possibility of the vehicle 2110 being oriented backwards in parallel in the scenario in fig. 7 c.

In at least some examples, the control apparatus 2210 is arranged to provide a notification signal indicating that there is no possible defined maneuver completion location, corresponding to a scenario (not shown) whereby the space 2172 is not suitable for accommodating the vehicle 2110 when performing the defined maneuver. Thus, the user is made aware by the notification that a void has been identified, but that void is not suitable for performing a defined maneuver, for example where the void is too small for performing the defined maneuver (e.g., whereby adjacent features 2125 or objects 2140, 2150 are significantly closer together than in fig. 7a, not of sufficient size to accommodate or house the vehicle 2110 even when the vehicle is in the closed configuration).

The control 2210 may be formed by one or more electronic processing devices, such as an electronic processor. The processor may be operable to execute computer readable instructions stored in the one or more memory devices 2220. As will be explained, the control device 2210 is arranged to control the output device 2240 to output a possibly defined manipulation completion position signal in dependence of the ambient signal. In some embodiments, the input device 2230 and the output device 2240 may be combined, for example, by being formed of an I/O unit or an interface unit. For example, the controller 2210 may include an interface to a network forming a communication bus of the 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 device 2230 may include an electrical input for receiving an ambient signal.

As shown here, the memory device 2220 may be used to store data from the input device 2230. For example, the memory device may store data about the features 2125, 2140 or the null 2172 for future use. For example, where an occupant or user of the vehicle 2110 has actively selected (e.g., by entering one or more parameter inputs) or implicitly shown (e.g., by repeated behavior or usage patterns) preferences for target-defined maneuver completion locations and/or orientations for one or more scenarios, the memory device may store data corresponding to the preferences to provide default and/or automatic target-defined maneuver completion locations and/or orientations in accordance with inputs (e.g., environmental signals and/or location signals, etc.) indicative of such scenarios or similar scenarios for the one or more preferences.

The data may be stored for use during and before performing the defined manipulation. Additionally or alternatively, the data may be stored for use during subsequent qualification manipulations. For example, when data is stored before or during execution of a defined maneuver to a defined maneuver completion position as shown in dashed lines in any of fig. 11 a-11 e, the stored data may be used for a subsequent defined maneuver such as a maneuver to pick up a car from the defined maneuver completion position of fig. 11 a-11 e or during the subsequent defined maneuver. In the event that stored data, e.g., data of features 2125, 2140, 2150, is used to perform at least a portion of the defined manipulation, controller 2200 may perform a check, such as on the validity or continued validity of the data. For example, the controller 2200 may validate the data with another input, e.g., with a rear input from an environment sensing device, or with an input from another portion of the environment sensing device (e.g., another sensor or camera located at another portion of the vehicle 2110 that is capable of confirming the continued presence and/or location of one or more features 2125, 2140, 2150).

In at least some examples, controller 2210 may include a second input device for receiving a request signal indicative of a received signal indicative of a user request, e.g., a wirelessly received signal. In at least some examples, the request signal is indicative of a wirelessly received signal representing a user request to move the vehicle 2110 to a desired defined maneuver completion location. The user request may be for performing a defined manipulation to a selected target defined manipulation completion location and/or orientation.

In at least some examples, the controller 2200 can include a steering output device. The steering output device may include an electrical output for outputting the steering signal. The steering signal represents an instruction for the vehicle 2110 to move. The instructions provided by the maneuver signals are provided to cause the vehicle 110 to perform the defined maneuver. The control device 2210 is arranged to control the maneuver output device to cause the vehicle 2110 to perform at least a portion of the defined maneuver in accordance with the environmental signal.

It should be understood that the controller 2200 may be arranged to perform a portion of the defined manipulation in a particular mode. For example, the user may initiate a maneuver to perform a defined maneuver to a defined maneuver completion position after transferring control to the controller 2210, wherein the mode of execution is variable (e.g., between an occupant in-vehicle mode and an occupant out-of-vehicle mode) during a portion of performing the defined maneuver.

Fig. 9 illustrates a system 2300, according to an embodiment of the invention. The system 2300 includes the controller 2210 described above and shown in fig. 8.

The system 2300 includes an environment sensing device 2330 for determining information about the environment of the vehicle 2110. In particular, environment sensing devices 2330 are provided for determining the location of one or more features in the vicinity of the vehicle 2110. In at least some examples, a portion of the environment sensing device is associated with at least one sensor or camera, e.g., mounted in or on a vehicle rear view mirror, of one or more movable projections 2182. The environment sensing device 2330 is arranged to output an environment signal indicative of the determined characteristic. The environmental signal may be environmental data, which may be stored in a memory. The environment sensing means may comprise one or more sensing devices, for example imaging devices such as cameras, or other sensing devices such as lidar, radar, ultrasound devices, sonar devices, and the like. The signals output by each of the sensing devices can be used to form a representation of the environment of the vehicle 2110 that is stored in memory for use by other systems of the vehicle 2110.

Here, the environment sensing device 2330 is arranged to determine the location of features such as: such as surface markings of painted lines indicating the perimeter of the port or objects such as walls, pillars or other vehicles with respect to which the vehicle is required to maneuver. The control means is arranged to determine the absence of a feature, such as a spacing between obstructive features (e.g. adjacent features 2140, 2150 as shown here), from the ambient signal. Accordingly, the control device is arranged to determine a void 2172 in which no feature, e.g., no obstructive feature, is located. In the event that the void 2172 is sufficiently large, the control apparatus is arranged to determine a vehicle envelope 2174 suitable for housing the vehicle 2110 in the defined maneuver completion location. The vehicle envelope 2174 includes a target location suitable for housing the vehicle 2110 in a defined maneuver completion location. As such, here, the vehicle envelope 2174 includes the target defined maneuver completion location. In at least this example, the vehicle envelope 2174 is determined from one-dimensional characteristics and/or measurements and/or estimates. In particular, here, the vehicle envelope 2174 is determined from the environmental signal indicating a length, e.g., an unobstructed length between the features 2140, 2150. The unobstructed length is long enough for accommodating the vehicle 2110 in the defined maneuver completion location, where the length is the spacing between the features 2140, 2150 that is greater than the vehicle length in the defined maneuver completion location. The defined maneuver may include, for example, parking in a parking position.

The environment sensing devices 2330 are arranged to determine the orientation of one or more features in the vicinity, such as the orientation of adjacent vehicles 2140, 2150.

Here, the controller 2210 of the system 2300 includes a defined manipulation device. The control device is arranged to control the vehicle 2110 to perform at least one defined maneuver. Controller 2210 may include a defined maneuver controller for controlling one or more systems of vehicle 2110 to perform one or more defined maneuvers. The defined manipulation devices may be associated with one or more actuators 2350 of the vehicle 2110. One or more actuators 2350 are provided for effecting movement of the vehicle 2110. The actuators may comprise one or more of a power steering mechanism arranged to provide steering of the wheels of the vehicle 2110 in accordance with signals received from the controller 2210. The second actuator may comprise a dynamic braking mechanism of the vehicle 2110 arranged to actuate a brake of the vehicle in accordance with signals received from the controller 2210. The third actuator comprises a powertrain of the vehicle. The controller 2210 is arranged to control steering of vehicle wheels 2180 relative to the feature 2125. The fourth actuator 2350 includes one or more mechanisms for changing the position of the one or more movable projections 2182.

The system 2300 shown here includes a motion control device 2320. The motion control device 2320 may be a motion control unit. The motion control device 2320 is arranged to receive the manipulation signal output by the controller 2210. The motion control device 2320 is associated with one or more motion units of the vehicle 2110 that may form part of a powertrain (not shown) of the vehicle 2110. The motion unit may comprise one or more of the following: an internal combustion engine and one or more electric machines of the vehicle 2110. The powertrain is arranged to provide power or torque to cause movement of vehicle 2110 along a longitudinal axis, i.e., forward or reverse movement of vehicle 2100, in accordance with steering signals received from controller 2210. The motion control device 2320 is arranged to control the application of torque to one or more wheels of the vehicle 2110 to cause the vehicle 2110 to move along the longitudinal axis of the vehicle, even if the vehicle is moving generally forward or backward. The torque may include a driving torque, i.e., a torque applied in a direction of desired movement, such as forward. The torque may also include a braking torque, i.e., a torque applied to resist the driving torque. In at least some embodiments, both the driving torque and the braking torque can be applied simultaneously to provide low speed movement of the vehicle 2110. The braking torque may also be applied at least partially after the driving torque to achieve accurate movement of the vehicle 2110. To effect control of steering, controller 2210 may communicate with motion control device 2320. Accordingly, the one or more actuators 2350 may control the direction and movement of the vehicle to perform defined maneuvers. The defined manipulation is performed according to an environmental signal provided by the environment sensing device 2330.

The one or more defined maneuvers that may be performed by the vehicle 2110 under the control of the controller 2210 may include a parking maneuver such as that shown in fig. 11 a-11 e, where the vehicle 2110 is controlled to reach a parking location.

As shown here, system 2300 includes a receiver device 2310 for receiving signal 2305. Signal 2305 may be received wirelessly from a mobile device 2390 associated with a person responsible for vehicle 2110. As described above, the signal 2305 indicates a user request for vehicle movement of the vehicle 2110. The receiver device 2310 is arranged to output a request signal to the input device 2230 of the controller 2210 as described above. The request signal may be output by the receiver device 2310 onto a communication bus of the vehicle 2110 that may communicatively couple the components of the system 2300.

The receiver device 2310 may be in the form of a radio unit 2310. Radio unit 2310 may include a receiver for receiving radio signals 2305 from mobile device 2390. In some implementations, the radio unit 2310 can also include a transmitter, or can be a transceiver 2310 configured to receive radio signals 2305 transmitted from the mobile device 2390 and transmit the signals to the mobile device 2390. Radio unit 2103 and mobile device 2390 may be arranged to provide a wireless local area network via which bi-directional communication may occur between radio unit 2103 and mobile device 2390. For example, the radio unit 2103 may be arranged to communicate with the mobile device 2390 over wifi (rtm). In alternative embodiments, other radio communication standards may be used for communication. In one example, communication between the radio unit 2103 and the mobile device 2390 is provided via bluetooth (RTM), although other protocols or standards are contemplated.

The mobile device 2390 may be an electronic key fob associated with the vehicle 2110, for example the mobile device 2390 may be used to gain access to the vehicle 2110 and to activate the vehicle 2110 or to power the vehicle 2110. In other implementations, the mobile device 2390 may be an electronic device associated with a person responsible for the vehicle 2100, such as a mobile phone, a tablet, a watch, a wearable electronic device, or other computing device associated with the person. The mobile device 2390 can receive user input indicating that the person desires to move the vehicle 2110. The user input may be provided in the form of buttons or keys, activation of graphical display icons, gestures, or voice commands. Other forms of user input are also contemplated.

FIG. 10 shows a method 2400 according to an embodiment of the invention. Method 2400 is a method of controlling movement of vehicle 2110. The method 2400 may be formed by the controller 2210 and the system 2300 described above with reference to fig. 8 and 9. The method 2400 will be described with reference to fig. 11(a), 11(b), and 11(c) to 11(e) corresponding to the scenes shown in fig. 7(a), 7(b), and 7(c), respectively, as an example.

Method 2400 generally includes the following steps: an environmental signal is received 2410 from the environmental sensing device 2330, the environmental signal indicative of features 2125, 2140 in the vicinity of the vehicle 2110 and from which an orientation of the possible defined maneuver completion location for accommodating the vehicle is determined 2415, followed by execution of the defined maneuver. The control device determines 2415 whether the vehicle 2110 may be oriented within the void 2172, e.g., there may be multiple target-defined maneuver completion locations or orientations within the void 2172. For example, in the scenario depicted in fig. 7b, the control device determines whether the vehicle 2110 may be oriented in a front-facing and/or rear-facing orientation in the void and parallel to the adjacent vehicles 2140, 2150. Where a defined maneuver may be performed, the output 2425 indicates a notification signal of a possible defined maneuver completion location and orientation (e.g., forward or rearward and/or parallel or vertical) to provide a selection of a target defined maneuver completion location or orientation suitable for accommodating the vehicle when performing the defined maneuver. Alternatively, the control device controls to execute the limited manipulation 2440 when the orientation or the limited manipulation completion position is requested 2420.

Referring to fig. 10, the illustrated embodiment of method 2400 includes the following steps: an environmental signal is received 2410 from an environmental sensing device 2330. The controller 2210 determines 2420 whether the ambient signal indicates one or more features 2125 in the vicinity of the vehicle 2110 that correspond to the applicable null 2172. If no applicable empty bit exists, no qualifying manipulation is performed. In at least some examples, such non-execution or unavailability is communicated to the user (e.g., the user is notified that no applicable vehicle slot is detected or only an inapplicable slot is detected).

It should be understood that in at least some examples, the defined manipulations may be performed without explicit or discrete selections by the user. For example, where only a single target defined maneuver completion location is available or best suited, execution 2440 of the defined maneuver may be performed on the defined maneuver completion location without any explicit selection between options or notifications thereof. Also, in at least some examples, where multiple orientations may be available, there may be a common default orientation, e.g., a preferred orientation, that provides for performing one or more defined manipulations. The default may be adaptive, e.g., programmable by a user and/or self-learned to, e.g., evolve or adapt (e.g., evolve or adapt over time as a user behaves). In at least some examples, there may be a default mode in which the defined manipulation is performed without any options or requirements for selecting an orientation. In other examples, the default mode may be a particular orientation, such as performing a vertical parking rearward to allow the vehicle 2110 facing forward 2114 to exit the void 2172 in the direction of entry, thereby simplifying parking, and vice versa, wherein parking is performed rearward to facilitate access to the trunk or trunk of the vehicle 2110 from the entrance side of the void 2172.

The defined manipulation completion location and/or orientation may be explicitly selected via user input, such as selection via an interface. In at least some examples, defining the maneuver completion location and/or orientation selection may be via a user action. For example, where a defined maneuver completion location and/or orientation is available, selection of the defined maneuver completion location and/or orientation may be at least partially enabled by a user positioning the vehicle 2110 at a defined maneuver initiation location, where the vehicle 2110 is offset toward a preferred direction for positioning the vehicle 2110 at the defined maneuver completion location (e.g., whereby the defined maneuver may begin with the vehicle 2110 traveling in a forward direction or a rearward direction, respectively). Additionally or alternatively, the selection may be made via another system or interface, such as activation of a left/right signal indicator, a steering wheel, a touch screen, a voice command, or a position of the occupant (e.g., the occupant opens a door, leaves a vehicle seat, etc.).

In fig. 11(a), the vehicle 2110 at a possible defined maneuver complete position having a possible orientation after performing a defined maneuver from the start position of fig. 7(a) to the defined maneuver complete position of fig. 11(a) is shown in phantom, in accordance with an embodiment of the present invention. The user may be notified of such possible defined manipulation completion locations and/or orientations prior to performing the defined manipulation. Here, the defined maneuver to the target defined maneuver complete position will be performed to orient the vehicle 2110 parallel to the adjacent vehicles 2140, 2150 in a parallel, curb-side (on-street) parking defined maneuver.

Fig. 11(b) shows a scene substantially similar to the scene shown in fig. 7 (b). In fig. 11(b), the control device has identified the possibility and preference for orienting the vehicle 2110 within the void 2172 in a direction similar to the direction of the two adjacent vehicles 2140, 2150 or facing a direction similar to the direction of the two adjacent vehicles 2140, 2150. As shown therein, the vehicle 2110 is illustrated in FIG. 11b as performing a defined maneuver under the control of the controller, with the start position of FIG. 7b shown in phantom. In an alternative example (not shown), the controller may provide the user with the option of an alternative orientation, for example, where the vehicle is directed outwardly toward void 2172 in a direction opposite to that shown.

Fig. 11(c), 11(d) and 11(e) show a scene substantially similar to the scene shown in fig. 7 (c). In fig. 11e, three examples with possible orientations are indicated, possibly defining a manipulation completion position. As shown by the dashed lines in fig. 11(e), a user (not shown) is provided with a selection of possible defined manipulation completion positions and possible orientations; and the defined manipulation may be performed to a desired defined manipulation completion position according to the user's selection.

As indicated in fig. 11c, for example, the controller may select or provide default defined manipulations and/or orientations, depending on preference or particular implementation. It should be appreciated that the scenario as depicted in FIG. 11(c) now presents another scenario for possible qualifying manipulations. For example, another vehicle (not shown) may now be able to perform a defined maneuver to enter the void 2172 between the already parked vehicle 2110 and the left adjacent vehicle 2140. It will be appreciated that the execution of the defined maneuver to the offset defined maneuver complete position as shown in FIG. 11(c) enables the void of FIGS. 7(c) and 11(c) to be used to accommodate two vehicles, which would otherwise not be possible (e.g., as shown in FIG. 11 (d)).

Once in the defined maneuver complete position, which is the park position in each of fig. 11(a), 11(b), 11(c), 11(d), and 11(e), user 2195 will typically apply the parking brake to hold vehicle 2110 stationary with the engine off.

The controller 2200 may be arranged to provide and/or select a potentially defined maneuver completion location having a possible orientation in accordance with characteristics of the environmental signal, such as the null 2172. For example, the controller 2200 may be arranged to provide and/or select a potentially defined manipulation-completion location having a possible orientation based on the size of the void 2172, the alignment of the adjacent objects 2140, 2150, or other parameters associated with the void 2172. In at least some examples, the available potentially defined maneuver completion locations having possible orientations may be limited (e.g., by a void 2172 including dimensions not suitable for entering/exiting one or more vehicle openings when oriented in a particular direction). Additionally or alternatively, the controller 2200 may be arranged to provide and/or select a possibly defined maneuver completion position with a possible orientation in dependence on other parameters, such as one or more of: ambient conditions (e.g., rain, temperature, brightness, darkness, time of day, day of week, etc.); terrain conditions (e.g., road surface conditions, off-road surface conditions, grade, etc.); one or more locations of a plurality of vehicle occupants (e.g., a location of each vehicle occupant).

The controller 2210 may be arranged to allow user adaptation. For example, a user may be able to at least partially overwrite, program, or adjust the controller 2210 with respect to one or more of: one or more available potentially defined maneuver completion locations; one or more possible orientations; one or more inputs for determining available potentially defined maneuver completion locations and/or possible orientations; selection means for selecting a defined manipulation completion position and/or possible orientation. The controller 2210 may be arranged to be manually overwritten, programmed or adjusted, for example, to adjust the output of the manipulation signal. Additionally or alternatively, the controller 2210 may be arranged to automatically or semi-automatically overwrite, program or adjust the output of the manipulation signal, such as by learning from user behavior, for example repetitive user behavior associated with one or more of: inputting a mode; a geographic location; user identity (e.g., where the vehicle 2110 is not being used by multiple users at the same time). For example, the controller 2210 may be arranged to automatically select a default orientation when the occupant 2195 is located at a particular location (e.g., relative to the vehicle 2110) or when the vehicle 2110 is located at a particular location (e.g., a house or garage) where the user has previously performed a defined maneuver into a known void.

It should be understood that other defined manipulations than those illustrated may be performed. It should be appreciated that the controller 2200 may be arranged to enable the occupant to transition between the in-vehicle position and the out-of-vehicle position during performance of the defined maneuver. For example, the controller 2200 may be arranged to allow for a defined interruption or suspension of maneuvering, such as to enable an occupant 2195 to transition into the vehicle 2110 or out of the vehicle 2110 when the vehicle 2110 is stationary. In at least some examples, vehicle 2110 may have steerable rear wheels; or the void may comprise a fishbone (diagonal) void 2172 or a vertical void (e.g., where the vehicle 2110 is parked at one end).

As a result of method 2400, the vehicle may be more advantageously positioned or configured after the defined maneuver is performed. It should also be understood that embodiments of the present invention are not limited to use in association with a defined maneuver. It may be used to provide an indication of a possible defined manoeuvre completion position and/or a possible orientation even when parking or when driven by a human driver, thereby performing a part of the defined manoeuvre.

Third technique

Fig. 13a and 13b show a vehicle 3110 according to an embodiment of the invention in two different scenarios. In fig. 13a, a vehicle 3110 is shown having a vehicle forward direction indicated by arrow 3114 that corresponds to a direction opposite a downward slope or incline direction indicated by arrow 3116. In fig. 13b, vehicle 3110 is shown having a vehicle forward direction indicated by arrow 3114, which corresponds to a downward slope or incline direction indicated by arrow 3116. As will be explained, in both scenarios, the vehicle 3110 is shown at a defined maneuver completion position with the vehicle wheels 3180 parallel to the features 3125 near the vehicle 3110.

In fig. 13(a), the vehicle 3110 is at a finish position intended to be a parking position of the vehicle 3110, in which finish position the restricted maneuver is a maneuver that keeps the vehicle pointing uphill. Vehicle 3110 is shown associated with a feature 3125 proximate to vehicle 3110. In this example, the feature 3125 is the following: the object is a curb in the finished position that is parallel to the longitudinal axis 3112 of the vehicle 3110, i.e., generally parallel to one side (e.g., here, the left side) of the vehicle 3110. The object is not limited to being a curb 3125, and may be, for example, a border at or adjacent to an edge of a ground surface for the vehicle (e.g., a road edge), a gutter, a bollard, a sidewalk, a wall, or other object.

In fig. 13(b), the vehicle 3110 is at a finish position intended to be a parking position of the vehicle 3110, in which finish position the restricted maneuver is a maneuver that keeps the vehicle pointed to a downhill slope. Vehicle 3110 is again shown in relation to a feature 3125 proximate to vehicle 3110.

It should be understood that in both cases shown in fig. 13(a) and 13(b), the defined maneuver may be a maneuver of the vehicle 3110, which maneuver of the vehicle 3110 is performed automatically by the vehicle 3110, i.e., under control of one or more systems of the vehicle 3110. The defined maneuver may be considered to be performed automatically or at least semi-autonomously by vehicle 3110. In fig. 13(a), the restricted maneuver may be a parking maneuver to control the vehicle 3110 to enter the parking structure 3125 or a parking space. In fig. 13(b), the defined maneuver may be a maneuver to move the vehicle 3110 from the park position, for example, in the general direction of arrow 3155, from between other vehicles 3140, 3150.

In both scenarios, it may be advantageous to perform a maneuver when a person controlling vehicle 3110 is outside vehicle 3110. For example, access to the vehicle 3110 may be restricted after performing a defined maneuver in fig. 13(a) and 13(b) (e.g., where the feature 3125 is a wall or other obstruction with respect to opening a door).

To perform the defined maneuver, vehicle 3110 includes environment sensing devices for determining the location of features 3125 in the vicinity of vehicle 3110. The environment sensing means may comprise one or more sensing devices or imaging devices. One or more sensing devices may emit radiation and receive radiation reflected from features in the vicinity of the vehicle, e.g., ultrasonic sensing devices, although it should be understood that the invention is not limited in this respect. Such an environment sensing apparatus has a minimum distance that can determine the accuracy of the position of the feature 3125 due to, for example, the resolution of the imaging device or the signal-to-noise ratio of the sensing device.

Once in the finished position, which is the park position in fig. 13(a) and 13(b), the user will typically apply the parking brake to hold the vehicle stationary with the engine off. In the event of improper application or accidental release of the parking brake, the vehicle 3110 may be undesirably tilted in a downhill direction 3116, rearward in fig. 13(a) and forward in fig. 13 (b). Even without improper application or accidental release of the parking brake, the vehicle 3110 may be undesirably parked, for example, in violation of local parking regulations for a vehicle parked on an incline.

Embodiments of the present invention aim to ameliorate one or both of these problems.

Fig. 14 shows a controller 3200 or a control unit 3200 according to an embodiment of the present invention, for example, included in the vehicle 3110 of fig. 13(a) and 13 (b).

The controller 3200 includes a control device 3210, an input device 3230, and an output device 3240. In some implementations, the controller includes memory means 3220, such as one or more memory devices 3220 for storing data therein. The output device 3240 may include an electrical output for outputting the steering signal. The steering signal represents an instruction for movement of the vehicle 3110. The instructions provided by the steering signal are provided to angularly offset the vehicle wheel 3180 in the finished position relative to the feature 3125 proximate the vehicle 3125. Here, the instructions provided are to angle the vehicle wheel 3180 towards the feature 3125. The feature 3125 that the vehicle wheel 3180 should be angularly oriented may be determined from user input, such as user activation of an indicator (turn signal). For example, the controller may determine from the user input that the feature 3125 is a curb toward which the vehicle wheel 3180 should be angularly offset. In other examples, the user may explicitly specify or request the direction of the angular offset. In some examples, no user action or input is required to determine whether or in which direction and angle an offset is required, e.g., controller 3200 automatically applies an angular offset in all such parking limit maneuvers or in all specific contexts that meet a parameter or criteria defined as requiring an angular offset. The control means 3210 may be formed by one or more electronic processing devices, such as an electronic processor. The processor may be operable to execute computer readable instructions stored in the one or more memory devices 3220. As will be explained, the control means 3210 is arranged to control the output means 3240 to output a manipulation signal in dependence on the ambient signal. In some embodiments, the input device 3230 and the output device 3240 may be combined, for example, by being formed from I/O cells or interface cells. For example, the controller 3210 may include an interface to a network forming a communication bus of the 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 device 3230 may include an electrical input for receiving an ambient signal. The input device 3230 may include an electrical input for receiving a request signal. Here, the request signal indicates a wirelessly received signal representing a request of the user for movement of the vehicle 3110.

In at least some examples, the controller 3210 may include a second input device for receiving a request signal indicative of a received signal indicative of a user request, such as a wirelessly received signal. For example, the request signal may indicate a user request (e.g., a request to perform a portion of a particular defined manipulation) that has been wirelessly transmitted from a mobile device and received by the controller or another device or system connected to the controller.

It should be understood that the controller 3200 may be arranged to perform a portion of the defined manipulation. For example, a user may initiate a manipulation to complete a defined manipulation after transferring control to the controller 3210. In at least some examples, controller 3210 is arranged to angularly offset vehicle wheel 3180, e.g., under user control, after vehicle 3110 has been substantially positioned in a parked position. The controller 3210 may be arranged to indicate to a user the possibility of angularly offsetting the vehicle wheel and controlling the output device according to a user request therefor. In at least some examples, the controller may be arranged to automatically angularly offset the vehicle wheel without requiring an explicit user request for the vehicle wheel to be angularly offset. The portion controlled by the controller that defines the maneuver may include angularly offsetting the vehicle wheels 3180.

Fig. 15 illustrates a system 3300 according to an embodiment of the invention. The system 3300 includes the controller 3210 described above and shown in fig. 14.

System 3300 includes an environment sensing device 3330 for determining information about the environment of vehicle 3110. In particular, an environmental sensing device 3330 is provided for determining the location of one or more features in the vicinity of the vehicle 3110. The environment sensing device 3330 is arranged to output an environment signal indicative of the determined characteristic. The environmental signal may be environmental data, which may be stored in a memory. The environment sensing means may comprise one or more sensing devices, for example imaging devices such as cameras, or other sensing devices such as lidar, radar, ultrasound devices, sonar devices, and the like. The signals output by each of the sensing devices can be used to form a representation of the environment of the vehicle 3110, which is stored in memory for use by other systems of the vehicle 3110.

Here, the environment sensing device 3330 is arranged to determine the location of features such as: such as surface markings of painted lines indicating the perimeter of the port or objects such as walls, pillars or other vehicles with respect to which the vehicle is required to maneuver. The control device is arranged to determine the absence of features, such as the spacing between obstructive features (not shown), from the ambient signal. Accordingly, the control device is arranged to determine a void 3172 in which no feature, e.g. no obstructive feature, is located. In case the empty space 3172 is sufficiently large, the control means is arranged to determine a vehicle envelope adapted to accommodate the vehicle 3110 in the defined manoeuvre completed position. The vehicle envelope includes a target position adapted to accommodate the vehicle 3110 in a defined maneuver completion position. As such, the vehicle envelope may include the target defined maneuver completion location. In at least some examples, the vehicle envelope is determined from one-dimensional characteristics and/or measurements and/or estimates. In particular, here, the vehicle envelope is determined from an ambient signal indicating a length, e.g. an unobstructed length between features (not shown). The unobstructed length is long enough for accommodating vehicle 3110 in the defined maneuver complete location, the length being the spacing between features that is greater than the vehicle length or width in the defined maneuver complete location. The defined maneuver may include, for example, parking in a parking position.

Here, the controller 3210 of the system 3300 includes a defined manipulation device. The control device is arranged to control the vehicle 3110 to perform at least one defined maneuver. Controller 3210 may include a defined maneuver controller for controlling one or more systems of vehicle 3110 to perform one or more defined maneuvers. The defined manipulation device may be associated with one or more actuators 3350 of the vehicle 3110. One or more actuators 3350 are provided for effecting movement of vehicle 3110. The actuators may include one or more of a power steering mechanism arranged to provide steering of the wheels of vehicle 3110 in accordance with signals received from controller 3210. The second actuator may comprise a dynamic braking mechanism of the vehicle 3110 arranged to actuate brakes of the vehicle in accordance with signals received from the controller 3210. The third actuator comprises a powertrain of the vehicle. Controller 3210 is arranged to control steering of vehicle wheel 3180 relative to feature 3125. The controller 3210 is arranged to control application of steering force to angle the vehicle wheel generally towards the feature 3125 when the vehicle is positioned in the defined maneuver completion position.

The system 3300 shown here includes a motion control device 3320. The motion control device 3320 may be a motion control unit. The motion control device 3320 is arranged to receive the manipulation signal output by the controller 3210. Motion control device 3320 is associated with one or more mobile units of vehicle 3110, which may form part of a powertrain (not shown) of vehicle 3110. The motion unit may comprise one or more of the following: an internal combustion engine and one or more electric machines of vehicle 3110. The powertrain is arranged to provide power or torque to cause movement of vehicle 3110 along a longitudinal axis, i.e., forward or reverse movement of vehicle 3100, in accordance with steering signals received from controller 3210. The motion control device 3320 is arranged to control the application of torque to one or more wheels of the vehicle 3110 to move the vehicle 3110 along a longitudinal axis of the vehicle, even if the vehicle is moving generally forward or backward. The torque may include a driving torque, i.e., a torque applied in a direction of desired movement, such as forward. The torque may also include a braking torque, i.e., a torque applied to resist the driving torque. In at least some embodiments, both the drive torque and the brake torque may be applied simultaneously to provide low speed movement of the vehicle 3110. Brake torque may also be applied at least partially after drive torque to achieve accurate movement of vehicle 3110. To enable control of steering, the controller 3210 may communicate with a motion control device 3320. Thus, the one or more actuators 3350 may control the direction and movement of the vehicle to perform defined maneuvers. The defined manipulation is performed in accordance with an environmental signal provided by an environmental sensing device 3330.

The one or more defined maneuvers that may be performed by vehicle 3110 under the control of controller 3210 may include a parking maneuver such as those shown in fig. 13(a) and 13(b), where vehicle 3110 is controlled to reach a parked position.

As shown here, system 3300 includes a receiver arrangement 3310 for receiving a signal 3305. Signal 3305 may be received wirelessly from a mobile device 3390 associated with a person responsible for vehicle 3110. As described above, signal 3305 indicates a user request for vehicle movement of vehicle 3110. The receiver device 3310 is arranged to output a request signal to the input device 3230 of the controller 3210 as described above. The request signal may be output by receiver device 3310 onto a communication bus of vehicle 3110, which may communicatively couple components of system 3300.

Receiver apparatus 3310 may be in the form of a radio unit 3310. The radio unit 3310 may include a receiver for receiving radio signals 3305 from the mobile device 3390. In some implementations, the radio unit 3310 may also include a transmitter, or may be a transceiver 3310 configured to receive radio signals 3305 transmitted from the mobile device 3390 and transmit the signals to the mobile device 3390. The radio 3103 and the mobile device 3390 may be arranged to provide a wireless local area network via which bi-directional communication may be conducted between the radio 3103 and the mobile device 3390. For example, radio 3103 may be arranged to communicate with mobile device 3390 via wifi (rtm). In alternative embodiments, other radio communication standards may be used for communication. In one example, communication between the radio unit 3103 and the mobile device 3390 is provided via bluetooth (RTM), although other protocols or standards are contemplated.

The mobile device 3390 may be an electronic key fob associated with the vehicle 3110, for example the mobile device 3390 may be used to gain access to the vehicle 3110 and activate the vehicle 3110 or power the vehicle 3110. In other implementations, the mobile device 3390 may be an electronic device associated with the person responsible for the vehicle 3100, such as a mobile phone, a tablet, a watch, a wearable electronic device, or other computing device associated with the person. The mobile device 3390 can receive user input indicating that the person desires to move the vehicle 3110. The user input may be provided in the form of buttons or keys, activation of graphical display icons, gestures, or voice commands. Other forms of user input are also contemplated.

As shown here, in the event vehicle 3110 rolls or rolls on a grade, vehicle wheel 3180 is angled to contact feature 3125. In other examples, in the event the vehicle 3110 is banked, the vehicle wheel 3180 may be angled such that the vehicle wheel contact feature 3125. For example, in the case of a vehicle rolling downhill, the front steerable vehicle wheel 3180 may be angled to allow or cause the rear vehicle wheel contact feature 3125.

FIG. 16 shows a method 3400 in accordance with an embodiment of the invention. Method 3400 is a method of controlling movement of vehicle 3110. The method 3400 may be formed by the controller 3210 and the system 3300 described above with reference to fig. 14 and 15. The method 3400 will be described with reference to fig. 17(a) and 17(b) corresponding to the scenarios shown in fig. 1(a) and 1(b), respectively, as an example.

The method 3400 generally includes the steps of: an environmental signal is received 3410 from environmental sensing device 3330 indicative of a feature 3125 proximate vehicle 3110 and an angle of one or more wheels 3180 of vehicle 3110 relative to feature 3125 is controlled 3440 according to the feature 3125 proximate vehicle 3110 to angularly offset the one or more vehicle wheels 3180 relative to a longitudinal axis 3112 of vehicle 3110.

Referring to fig. 16, the illustrated embodiment of the method 3400 includes the step of receiving 3410 an environmental signal from an environmental sensing device 3330. Controller 3210 determines 3420 whether the environmental signal indicates one or more features 3125 in the vicinity of vehicle 3110 that correspond to an object with respect to which vehicle wheel 3180 may be expected to be angularly offset.

In the embodiment shown here, there is an optional additional step 3430 whereby controller 3210 determines whether vehicle 3110 and/or a ground surface near (e.g., below) vehicle 3110 is inclined. The controller 3210 may determine that there is a tilt; and in at least some embodiments, the controller 3210 may determine the direction and/or magnitude of the tilt. Accordingly, controller 3210 may determine whether there is sufficient lean and in which direction, and determine whether there is an applicable feature 3125, such as a curb, in the vicinity of vehicle 3110. Accordingly, in step 3440, controller 3210 may output a corresponding steering signal to indicate movement of vehicle 3110, and in particular rotation of vehicle wheels 3180 relative to vehicle 3110. As described above, in at least some embodiments, controller 3210 may determine a preferred angular offset 3184 of vehicle wheel 3180 and output a steering signal accordingly. In particular, controller 3210 may output a steer signal to angle vehicle wheel 3180 in a downhill direction toward feature 3125 such that vehicle wheel 3180 contacts feature 3125 if the vehicle moves, e.g., rolls, from a finished steer position (e.g., in fig. 13(a) or 13 (b)). The inclination may be determined from vehicle sensors such as a vehicle accelerometer (not shown). The inclination may be determined based on the environmental signal, for example, relative to a determination of a characteristic of the vehicle 3110 (e.g., based on a slope of a characteristic 3125 near the vehicle; and/or based on an additional characteristic such as a vertical pillar). The controller 3210 may be arranged to determine the feature 3125 as a curb from a plurality of objects represented by the ambient signal. In at least some examples, the controller can determine the presence, direction, and/or magnitude of the tilt based on the location of the vehicle 3110, such as indicated from data stored in memory 3220 and/or from a geographic location system of the vehicle 3110 (e.g., a navigation system, and/or a mobile device of or associated with a user in proximity to the vehicle).

In at least some examples, to provide the maneuver signal to angularly offset vehicle wheel 3180, controller 3210 may need to present a slope above a minimum threshold, e.g., about 1 degree or more from horizontal, preferably about 3 degrees from horizontal-but may be a higher threshold in at least some examples, e.g., about 5 degrees or more from horizontal. The minimum tilt threshold may correspond to a possible roll of the vehicle and/or regulatory requirements, for example, where parking regulations require tightening of the vehicle wheels when parking the vehicle on a slope of 3 degrees or more. Other bevels are contemplated.

Controller 3210 may be arranged to angularly offset vehicle wheel 3180 by at least a minimum angle 184 relative to longitudinal axis 3112 of vehicle 3110, e.g., at least about 10 degrees, preferably at least about 15 degrees, optionally at least about 20 degrees. The minimum angle 184 may correspond to at least a minimum angle required for wheel tightening in regulatory requirements. In at least some examples, the offset angle 184 corresponds to a maximum angular offset of the vehicle wheel 3180 relative to the longitudinal axis 3112 of the vehicle 3110 (e.g., the steerable vehicle wheel 3180 is fully locked).

The controller 3210 may be arranged to allow user adaptation. For example, a user may be able to at least partially overwrite, program, or adjust the controller 3210 such that one or more of: the specification of the angular offset, the tilt threshold for providing the angular offset, one or more locations where the angular offset is provided, the direction of the angular offset, and the angle of the angular offset. The controller 3210 may be arranged to be manually overwritten, programmed or adjusted, for example to adjust the output of the steering signal. Additionally or alternatively, the controller 3210 may be arranged to automatically or semi-automatically overwrite, program or adjust the output of the manipulation signal, such as by learning from user behavior, for example repeated user behavior associated with one or more of: inputting a mode; a geographic location; user identity (e.g., where the vehicle 3110 is not being used by multiple users at the same time). For example, the controller 3210 may be arranged to not angularly offset the vehicle wheel 3110 when the vehicle is positioned at a particular location (e.g., a house or garage) where the user has previously overwritten, cancelled, or rejected the angular offset of the vehicle wheel 3180. In at least some examples, controller 3200 includes self-learning, e.g., to learn when and/or where to apply an angular offset.

It should be appreciated that the vehicle 3110 may be positioned on a slope in a defined maneuver completion position, whereby the downhill direction need not be parallel or aligned with the vehicle longitudinal axis 3112. For example, the direction of the inclination may have a lateral component, such as a component associated with road camber. In particular, to this end, the controller may be arranged to determine a roll direction or a possible roll direction of the vehicle 3110, e.g. under the influence of gravity, and the vehicle wheels 3180 may be angularly offset accordingly.

In at least some examples, controller 3210 may be arranged to apply a brake and/or engage a gear or drive function of vehicle 3110 to prevent or inhibit accidental roll of the vehicle, for example, when the vehicle is parked on a slope.

FIG. 18 shows a side view of an example vehicle, as shown here, an automobile (private, passenger, non-service), according to an embodiment of the invention.

As a result of the method 3400, the vehicle may be more advantageously positioned or configured after the defined maneuver is performed. It should also be understood that embodiments of the present invention are not limited to use in association with a defined maneuver. Angularly offsetting the vehicle wheels 3180 may be useful even when parked or driven by a human driver.

Fourth technique

Fig. 19 shows a vehicle 4110 according to an embodiment of the invention.

In fig. 19, the vehicle 4110 is shown in a defined maneuver starting position, for example, to a park position of the vehicle 4110, before the defined maneuver is performed. The vehicle shown here has a longitudinal axis 4112, and has a vehicle heading indicated by arrow 4114. Here, the ambient condition near the vehicle is shown as precipitation 4136 such as rain. Ambient conditions are not limited to precipitation and may include, for example: (ii) temperature; the temperature of the air; surface temperature, such as road temperature; precipitation, such as rain, snow, hail; moisture; moisture; atomizing; mist; particles, such as airborne particles; a level of illumination; wind; wind speed; the wind direction.

It should be appreciated that the defined maneuver may be a maneuver of the vehicle 4110, the maneuver of the vehicle 4110 being performed automatically by the vehicle 4110, i.e., under control of one or more systems of the vehicle 4110. The defined maneuver may be considered to be performed automatically or at least semi-autonomously by the vehicle 4110. In fig. 19, the restricted maneuver may be a parking maneuver to control vehicle 4110 to enter a parking structure or space. In at least some circumstances, it may be advantageous to perform a maneuver when a person controlling vehicle 4110 is outside vehicle 4110. For example, access to the vehicle 4110 may be restricted after performing the restricted maneuver.

One or more ambient conditions may have an actual and/or perceived impact on the performance of the defined manipulation, for example, physically and/or psychologically impact the user's experience of performing the defined manipulation.

Embodiments of the present invention aim to ameliorate one or both of these problems.

Fig. 20 shows a controller 4200 or a control unit 4200 according to an embodiment of the present invention, for example, included in the vehicle 4110 of fig. 19.

Controller 4200 includes a control device 4210, an input device 4230, and an output device 4240. In some embodiments, the controller includes a memory device 4220, such as one or more memory devices 4220 for storing data therein. The output device 4240 may include an electrical output for outputting a steering signal. The steering signals represent commands for movement of the vehicle 4110.

Here, the input device 4230 is operable to receive an ambient condition signal indicative of an ambient condition 4136 in the vicinity of the vehicle 4110. The control means 4210 is arranged to control the output means 4240 to cause the vehicle 4110 to perform at least part of the defining manoeuvres in dependence on the ambient condition signal. Here, the control means 4210 is arranged to control the output means 4240 to cause the vehicle 4110 to perform at least part of the defining manoeuvre in accordance with a vehicle movement control property determined on the basis of the ambient condition signal. Thus, the vehicle 4110 is caused to perform a restricted maneuver in a controlled manner that is appropriate for the ambient environmental conditions.

The vehicle movement control attribute includes a speed parameter. Here, the speed parameter indicates a first sequential speed parameter. The control means 4210 is arranged to select a vehicle movement control attribute in dependence on the category of ambient environmental conditions 4136. Advantageously, the control device 4210 of the vehicle 4110 automatically selects parameters for performing a defined maneuver associated with a predetermined category of one or more ambient conditions. Here, the speed parameter indicates the acceleration of the vehicle 4110 and the jerk, which is the rate of change of the acceleration of the vehicle 4110. Thus, the vehicle 4110 is caused to perform a defined maneuver at an appropriate acceleration, such as effectively and/or without excessive acceleration of the vehicle 4110 or its user or content. For example, as shown here with the ambient conditions of rain 4136, vehicle movement control attributes are selected that provide reduced speed parameters, such as reduced maximum speed, maximum acceleration, and maximum jerk. Thus, there is an increased likelihood of reduced grip (e.g., due to rain wetting the road or other surface beneath the vehicle wheels 4180); or at least increasing the likelihood of the user-perceived reduction in grip, then the controller 4200 adjusts the execution of the defined maneuver to reduce the likelihood of the vehicle 4110 slipping or at least reduce the likelihood of the user-perceived vehicle 4110 slipping. Thus, the vehicle 4110 is caused to perform a restricted maneuver at an appropriate speed, acceleration, and rate of change of acceleration, which is physically and psychologically adapted to the surrounding environmental conditions for the user to feel comfortable.

It should be understood that other vehicle movement control attributes may be used for other ambient conditions. For example, the maximum speed parameter of the vehicle movement control attribute corresponding to the wet ambient condition 4136 in fig. 19 may be less than the maximum speed parameter of the vehicle movement control attribute corresponding to the dry ambient condition. Thus, the maximum speed parameter may be changed to accommodate changes in ambient conditions 4136. It should be understood that the vehicle movement control attributes may be changed during execution of the defined maneuver: for example if the ambient conditions change (for example if it only starts raining after the limited manoeuvre has started).

To perform the defined maneuver, the vehicle 4110 includes an environment sensing device for determining a location of a feature in the vicinity of the vehicle 4110. The environment sensing means may comprise one or more sensing devices or imaging devices. One or more sensing devices may emit radiation and receive radiation reflected from features in the vicinity of the vehicle, e.g., ultrasonic sensing devices, although it should be understood that the invention is not limited in this respect. Such an environment sensing apparatus has an accurate minimum distance at which the position of the feature can be determined due to, for example, the resolution of the imaging device or the signal-to-noise ratio of the sensing device.

It should be understood that in at least some examples, the environment sensing device provides an ambient condition signal or at least one input for an ambient condition signal. For example, the environment sensing means may comprise a sensor or imaging device capable of detecting precipitation and/or mist and/or fog. Additional or alternative inputs from or to the ambient condition signal may include one or more of the following: one or more thermometers; one or more wipers; vehicle lighting; a traction force sensor. For example, in case of manual and/or automatic activation of the wipers, the control device 4210 may adapt e.g. wet weather vehicle movement control properties with a reduced speed parameter accordingly. Similarly, lighting of vehicle 4110, activated manually and/or automatically, is used in at least some examples to determine an illumination level ambient condition — and control 4210 is arranged to adapt output 4240 accordingly (e.g., to reduce speed parameters in darker ambient conditions). The ambient condition signal may depend at least in part on the ambient condition measurement. Additionally or alternatively, the ambient condition signal may depend at least in part on the estimated condition. The estimated condition may be derived from one or more other parameters or states. For example, where the vehicle is in a geographic location for which the location is daytime (e.g., not in a tunnel, shadow, etc.), then the low light level indication may be used as indicating a cloudy or cloudy ambient condition.

Once in the defined maneuver completion position (not shown), the user will typically apply the parking brake to hold the vehicle stationary with the engine off.

The control device 4210 may be formed by one or more electronic processing devices, such as an electronic processor. The processor may be operable to execute computer readable instructions stored in the one or more memory devices 4220. As will be explained, the control means 4210 is arranged to control the output means 4240 to output a steering signal in dependence on the ambient signal. In some embodiments, the input device 4230 and the output device 4240 may be combined, for example, by being formed of I/O units or interface units. For example, the controller 4210 may include an interface to a network forming a communication bus of the 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.

Here, the input device 4230 comprises an electrical input for receiving ambient condition signals. The input device 4230 may comprise an electrical input for receiving an ambient signal. The input device 4230 may include an electrical input for receiving a request signal. In at least some examples, the controller 4210 comprises a second input device for receiving a request signal indicative of a received signal indicative of a user request, e.g., a wirelessly received signal.

It should be understood that the controller 4200 may be arranged to perform a portion of the defined manipulation. For example, the user may initiate a maneuver to complete a defined maneuver after transferring control to the controller 4210.

FIG. 21 shows a system 4300 according to an embodiment of the invention. The system 4300 includes the controller 4210 described above and shown in fig. 20.

The system 4300 includes an ambient condition sensing device 4332 for determining information about ambient conditions in the vicinity of the vehicle 4110. The ambient condition sensing means 4332 is arranged to output an ambient condition signal indicative of the determined ambient condition. The ambient condition signal may be ambient condition data that may be stored in a memory. The ambient condition sensing means may comprise one or more sensing devices, for example: environmental sensing means (e.g., imaging devices such as cameras, or other sensing devices such as lidar, radar, ultrasonic devices, sonar devices, etc.); a thermometer; a precipitation sensor; a traction force sensor; a light sensor. The signals output by each of the sensing devices may be used to form a representation of the ambient environmental conditions in the vicinity of the vehicle 4110, which is stored in memory for use by other systems of the vehicle 4110. In at least some examples, the ambient condition signal is dependent at least in part on the estimated condition. The estimated conditions may be based on, for example, geographic location, time of day, day of week, time of year, weather forecast; and/or another vehicle system in addition to or in place of the ambient condition sensing device.

Here, the vehicle includes an environment sensing device for: determining a location of at least one feature in the vicinity of the vehicle; and outputting an ambient signal indicative thereof. The environment sensing means is arranged to determine the position of features such as: such as surface markings of painted lines indicating the perimeter of the port or objects such as walls, pillars or other vehicles with respect to which the vehicle is required to maneuver. The control device is arranged to determine the absence of features, such as the spacing between obstructive features (not shown), from the ambient signal. Accordingly, the control device is arranged to determine a void in which no feature, e.g. no obstructive feature, is located. In case the vacancy is large enough, the control means is arranged to determine a vehicle envelope adapted to accommodate the vehicle 4110 in the defined manoeuvre complete position. The vehicle envelope includes a target position adapted to accommodate the vehicle 4110 in a defined maneuver completion position. As such, the vehicle envelope includes the target defined maneuver completion location. In at least some examples, the vehicle envelope is determined from one-dimensional characteristics and/or measurements and/or estimates. In particular, the vehicle envelope is determined from an ambient signal indicating a length, such as an unobstructed length between features (not shown). The unobstructed length is long enough for accommodating a vehicle 4110 in the defined maneuver completion location, the length being a spacing between features that is greater than a length or width of the vehicle in the defined maneuver completion location. The defined maneuver may include, for example, parking in a parking position.

Here, the controller 4210 of the system 4300 includes a limit steering device. The control device is arranged to control the vehicle 4110 to perform at least one defined maneuver. The controller 4210 may include a defined maneuver controller for controlling one or more systems of the vehicle 4110 to perform one or more defined maneuvers. The defining operator may be associated with one or more actuators 4350 of the vehicle 4110. One or more actuators 4350 are provided for effecting movement of the vehicle 4110. The actuators may comprise one or more of power steering mechanisms arranged to provide steering of the wheels of vehicle 4110 in dependence on signals received from controller 4210. The second actuator may comprise a dynamic braking mechanism of the vehicle 4110 arranged to actuate a brake of the vehicle in dependence on a signal received from the controller 4210. The third actuator comprises a powertrain of the vehicle. The controller 210 is arranged to control steering of the vehicle wheels 180 relative to the feature.

The system 4300 shown here includes a motion control 4320. The motion control device 4320 may be a motion control unit. The motion control means 4320 is arranged to receive a manipulation signal output by the controller 4210. The motion control device 4320 is associated with one or more motion units of the vehicle 4110, which may form part of a powertrain (not shown) of the vehicle 4110. The motion unit may comprise one or more of the following: an internal combustion engine and one or more electric machines of a vehicle 4110. The powertrain is arranged to provide power or torque to cause movement of vehicle 4110 along a longitudinal axis, i.e., forward or reverse movement of vehicle 4100, in accordance with steering signals received from controller 4210. The motion control device 4320 is arranged to control the application of torque to one or more wheels of the vehicle 4110 to move the vehicle 4110 along the longitudinal axis of the vehicle, even if the vehicle is moving in general forward or backward. The torque may include a driving torque, i.e., a torque applied in a direction of desired movement, such as forward. The torque may also include a braking torque, i.e., a torque applied to resist the driving torque. In at least some embodiments, both the drive torque and the brake torque may be applied simultaneously to provide low speed movement of the vehicle 4110. The braking torque may also be applied at least partially after the driving torque to achieve accurate movement of the vehicle 4110. To enable control of steering, controller 4210 may communicate with motion control 4320. Thus, one or more actuators 4350 may control the direction and movement of the vehicle to perform a defined maneuver. The defined manipulation is performed in accordance with an ambient condition signal provided by an ambient condition sensing device 4332.

The one or more defined maneuvers that may be performed by vehicle 4110 under the control of controller 4210 may include a parking maneuver, such as a parking maneuver, in which vehicle 4110 is controlled to reach a parking location.

As shown here, the system 4300 includes a receiver apparatus 4310 for receiving a signal 4305. The signal 4305 may be received wirelessly from a mobile device 4390 associated with a person responsible for the vehicle 4110. Signal 4305 indicates a user request for vehicle movement of vehicle 4110. The receiver device 4310 is arranged to output a request signal to the input device 4230 of the controller 4210 as described above. The request signal may be output by the receiver device 4310 onto a communication bus of the vehicle 4110, which may communicatively couple components of the system 4300.

The receiver means 4310 may be in the form of a radio unit 4310. The radio unit 4310 may comprise a receiver for receiving a radio signal 4305 from the mobile device 4390. In some implementations, the radio unit 4310 can also include a transmitter, or can be a transceiver 4310 configured to receive a radio signal 4305 transmitted from the mobile device 4390 and transmit the signal to the mobile device 4390. Radio unit 4103 and mobile device 4390 may be arranged to provide a wireless local area network via which bi-directional communication may take place between radio unit 4103 and mobile device 4390. For example, the radio unit 4103 may be arranged to communicate with the mobile device 4390 over wifi (rtm). In alternative embodiments, other radio communication standards may be used for communication. In one example, communication between the radio unit 4103 and the mobile device 4390 is provided via bluetooth (RTM), although other protocols or standards are contemplated.

The mobile device 4390 may be an electronic key fob associated with the vehicle 4110, e.g., the mobile device 4390 may be used to gain access to the vehicle 4110 and activate the vehicle 4110 or power the vehicle 4110. In other implementations, mobile device 4390 may be an electronic device associated with a person responsible for vehicle 4100, such as a mobile phone, a tablet, a watch, a wearable electronic device, or other computing device associated with the person. The mobile device 4390 can receive a user input indicating that the person desires to move the vehicle 4110. The user input may be provided in the form of buttons or keys, activation of graphical display icons, gestures, or voice commands. Other forms of user input are also contemplated.

Fig. 22 illustrates a method 4400 according to an embodiment of the invention. Method 4400 is a method of controlling movement of a vehicle 4110. The method 4400 may be formed by the controller 4210 and the system 4300 described above with reference to fig. 20 and 21. The method 4400 will be described, by way of example, with reference to fig. 23, which generally corresponds to the scenario illustrated in fig. 19.

The method 4400 generally includes the steps of: the ambient environmental condition signal is received 4410 from the ambient environmental condition sensing means 4332, is indicative of an ambient environmental condition in the vicinity of the vehicle 4110, and the vehicle 4110 is controlled 4440 to perform a defined maneuver in accordance therewith.

Referring to fig. 22, the illustrated embodiment of method 4400 includes the following steps: an ambient condition signal is received 4410 from the ambient condition sensing device 4332. The controller 4210 determines 4420 whether the ambient condition signal indicates an ambient condition associated with adapting 4430 the performance of the defined maneuver 4440, such as according to a particular vehicle movement control attribute corresponding to the sensed ambient condition.

In fig. 23, a vehicle 4110 is shown positioned on a terrain 4135, the terrain 4135 having an ambient condition 4136 proximate the vehicle 4110 similar to fig. 19. The control means 4210 is arranged to control the output means 4240 to cause the vehicle 4110 to perform at least part of the defining manoeuvre in accordance with a vehicle movement control property determined on the basis of a terrain signal indicative of the terrain 4135 and on the basis of a surrounding environment condition signal indicative of the surrounding environment condition 4136. Thus, the vehicle 4110 is caused to perform a defined maneuver in a controlled manner appropriate to the terrain 4135 and the ambient conditions 4136. The control means 4210 is arranged to select a vehicle movement control attribute in dependence of the terrain 4135 and the category of the ambient conditions 4136. Accordingly, the vehicle 4110 automatically selects parameters for performing the defined maneuver associated with the predetermined category of terrain 4135 and ambient conditions 4136.

The topography 4135 is a surface. In at least some examples, the surface can include a ground surface such as a load bearing surface (e.g., a vehicle load bearing). The surface may comprise a drivable surface such as for receiving a vehicle wheel 4180 thereon. The surface may comprise a substrate.

In at least some examples, the category of terrain includes one or more of: road topography; off-road terrain; rough terrain; smooth terrain; slippery terrain; flat terrain; a material. Here, the terrain 4135 is classified according to one or more parameters corresponding to one or more of: roughness, smoothness, roughness, grip, slip, friction, one or more slopes, one or more inclinations, one or more materials. The one or more parameters include magnitude and/or direction.

In some examples, in addition to or as an alternative to the terrain-dependent signal, the control device 4210 is arranged to control the output device 4240 in dependence on a terrain signal indicative of a terrain in the vicinity of the vehicle 4110.

FIG. 24 shows a side view of an example vehicle, as shown here, an automobile (private, passenger, non-service), according to an embodiment of the invention.

As a result of method 4400, the vehicle may be more advantageously located or configured after the defined maneuver is performed. It should also be understood that embodiments of the present invention are not limited to use in association with a defined maneuver. For example, adapting or providing performance such as defining a portion of a maneuver according to ambient environmental conditions may be useful even when driven by a human driver.

Fifth technique

Fig. 25a and 25b show a vehicle 5110 according to an embodiment of the present invention in two different scenarios. In fig. 25a and 25b, the vehicle 5110 is shown with a vehicle forward direction indicated by arrow 5114 shown parallel to the central longitudinal axis 5112 of the vehicle 5110. In both scenarios, the vehicle 5110 is shown at a defined handling start position and a defined handling completion position of the vehicle 5110 shown in dashed lines. In both specific scenarios shown in fig. 25a and 25b, it may be desirable to perform a defined maneuver to park the vehicle 5110 in a defined maneuver complete position in the vacant position 5172.

In fig. 25(a), a vehicle 5110 is shown in phantom at a target or desired defined maneuver completion location within a vehicle envelope 5174 in a void 5172, wherein a defined maneuver has been performed in which the vehicle enters the void 5172 in an advancing direction 5114. A vehicle 5110 is shown in relation to a feature 5125 in the vicinity of the vehicle 5110. In this example, the feature 5125 is an object that is a wall parallel to the longitudinal axis 5112 of the vehicle 5110 in the defined maneuver completion position, i.e., generally parallel to one side (e.g., here, the left side) of the vehicle 5110. The object is not limited to being a wall 5125 and can be, for example, a bollard, fence, barrier, or other object at or adjacent the void 5172. As shown here, another feature 5140 in the form of a stationary vehicle defines a lateral side of the void 5172 opposite the wall feature 5125.

In fig. 25a, the dimensions of the vehicle, width 5194 as shown here, are such that the vehicle 5110 cannot be maneuvered into the apparent vehicle envelope 5174 in the void 5172 because the corresponding dimension of the void vehicle envelope 5174, shown here as width 5176, is too small. Thus, the vehicle 5110 itself is not adapted to enter the void 5172, as indicated by the vehicle movable projection 5182 overlapping the features 5125, 5140. It should be understood that although shown here in plan view, the depicted scene is three-dimensional. Thus, in at least some scenarios, the features 5125 and 5140 can be at a similar height to the vehicle movable projection 5182 such that the vehicle movable projection 5182 may not overlap the features 5125, 5140 in plan view (e.g., the vehicle projection will undesirably contact the features 5125, 5140).

Similarly, the void 5172 in the scenario in fig. 25b may make the vehicle envelope 5174 appear to be suitable for accommodating the vehicle 5110 therein with a gap 5192 between the vehicle 5110 and the adjacent features 5125, 5140 in the closed configuration at the defined maneuver completion location as shown in dashed lines. However, the respective dimensions 5176 of the portion 5142 of the void 5172 are such that the vehicle 5110 will not be able to maneuver into the void 5172. In particular, maneuvering the vehicle 5110 into the void 5172 will bring the vehicle movable projection 5182 (shown on the right side of the vehicle 5110) into contact with a portion 5142 of the object 5140 (e.g., a projection of an adjacent stationary vehicle as shown here). In fig. 25b, the size of the vehicle 5110, here the width 5194, is such that the vehicle 5110 cannot be maneuvered into the apparent vehicle envelope 5174 in the void 5172 because the corresponding size of the void's vehicle envelope 5174, width 5176, is smaller than the vehicle width 5194.

Thus, in both scenarios, it may not be possible to maneuver the vehicle 5110 into the void 5172, at least without maneuvering the vehicle 5110 into the void 5172 without contact between the vehicle and at least one of the features 5125, 5140, which could potentially cause damage to the features 5125, 5140 and/or the vehicle.

Embodiments of the present invention aim to ameliorate one or both of these problems.

In both cases shown in fig. 25(a) and 25(b), it should be understood that the defined maneuver may be a maneuver of the vehicle 5110, the maneuver of the vehicle 5110 being performed automatically by the vehicle 5110, i.e., under control of one or more systems of the vehicle 5110. The defined maneuver may be considered to be performed automatically or at least semi-autonomously by the vehicle 5110. In fig. 25a and 25b, the restricted maneuver may be a parking maneuver to control the vehicle 5110 to drive into a parking space.

In both scenarios, it may be advantageous to perform a maneuver when a person controlling the vehicle 5110 is outside the vehicle 5110. For example, in fig. 25(a) and 25(b), access to the vehicle 5110 may be restricted after a defined maneuver is performed (e.g., where the feature 5125 or object 5140 forms an obstruction with respect to opening the door 5188).

To perform a defined maneuver, the vehicle 5110 includes an environment sensing device for determining the location of a feature 5125 in the vicinity of the vehicle 5110. The environment sensing means may comprise one or more sensing devices or imaging devices. One or more sensing devices may emit radiation and receive radiation reflected from features in the vicinity of the vehicle, e.g., ultrasonic sensing devices, although it should be understood that the invention is not limited in this respect. Such an environment sensing apparatus has a minimum distance that can determine the accuracy of the location of the feature 5125 due to, for example, the resolution of the imaging device or the signal-to-noise ratio of the sensing device.

In the particular example shown here, the vehicle 5110 includes a portion of an environment sensing device in the vehicle movable projection 5182 or on the vehicle movable projection 5182. For example, each side or rear view mirror of vehicle 5110 may have a camera or the like mounted thereto or mounted thereon.

Fig. 26 shows a controller 5200 or a control unit 5200 included in the vehicle 5110 in fig. 25(a) and 25(b), for example, according to an embodiment of the present invention.

The controller 5200 includes a control device 5210, an input device 5230, and an output device 5240. In some embodiments, the controller includes a memory device 5220, such as one or more memory devices 5220 for storing data therein. The output device 5240 may include an electrical output for outputting the steering signal. The manipulation signal indicates an instruction for movement of the vehicle 5110. The instructions provided by the maneuver signals are provided to cause the vehicle 5110 to perform the defined maneuver. Here, the controller 5200 may determine one or more of the features 5125, 5140 such that one or more of the vehicle movable projections 5182 should be in a particular position during or when defining a particular phase of the maneuver. For example, the controller can determine the feature 5140 as having a portion 5142 for which one or more of the vehicle movable projections 5182 should be folded. Thus, the controller 5200 can cause the one or more movable projections 5182 of the vehicle 5110 to be folded before or during performance of the defined maneuver before the one or more movable projections 5182 of the vehicle 5110 reach the portion 5142. In other examples, the user may explicitly specify or request the position or repositioning of one or more movable projections 5182 of the vehicle 5110. In at least some examples, the control device positions the one or more movable projections 5182 at a default position (e.g., folded or unfolded) for performing one or more defined manipulations.

The control means 5210 may be formed by one or more electronic processing devices, such as an electronic processor. The processor may be operable to execute computer readable instructions stored in the one or more memory devices 5220. As will be explained, the control device 5210 is arranged to control the output device 5240 to output a manipulation signal in dependence on the ambient signal. In some embodiments, the input device 5230 and the output device 5240 may be combined, for example, by being formed from I/O cells or interface cells. For example, the controller 5210 may include an interface to a network forming a communication bus of the 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 device 5230 may include an electrical input for receiving an environmental signal. The input device 5230 may include an electrical input for receiving a request signal. Here, the request signal indicates a wirelessly received signal representing a user's request for movement of the vehicle 5110.

As shown here, the memory device 5220 may be used to store data from the input device 5230. In particular, the memory device can store data about features 5125, 5140 or slots 5172 for future use. For example, where the environment sensing device or a portion thereof is associated with the movable projection 5182 (e.g., where a camera or sensor is mounted to or on a rear view mirror), then the memory device 5220 can store data from the movable projection 5182 prior to performing at least a portion of the defined manipulation. In particular, where the movable projection 5182 may be moved to a position that affects environmental sensing (e.g., a folded position, thereby potentially obstructing the camera or sensor view), then storing data about the features 5125, 5140 may enable a defined manipulation to be performed relative to the features 5125, 5140, such as including based on historical data about the same. The data may be stored prior to and during execution of the defined manipulation for use during execution of the defined manipulation. Additionally or alternatively, the data may be stored for use during subsequent qualification manipulations. The subsequent qualifying manipulation may be performed shortly after or a significant time after the qualifying manipulation. The data may be stored for defining a subsequent inversion of the manipulation. For example, in the case where data is stored before or during execution of a defined maneuver to the defined maneuver completion position shown in dashed lines in fig. 25a or 25b, then the stored data may be used for or during a subsequent defined maneuver, such as a pick-up maneuver beginning at the defined maneuver completion position of fig. 25a or 25 b. The data may be stored for use during subsequent iterations of the defined maneuver, for example where the defined maneuver is repeated at a later time (e.g., upon returning to the same location, such as a garage, parking lot, etc., where the defined maneuver has been previously performed). In the event that stored data, e.g., data of a feature 5125, 5140, is used to perform at least a portion of the defined manipulation, controller 5200 may perform a check, such as a validity or continued validity, of the data. For example, the controller may validate the data with another input, e.g., with an input from another portion of the environment sensing device (e.g., another sensor or camera located at another portion of the vehicle 5110 that is capable of confirming the persistent presence and/or location of one or more features 5125, 5140).

In at least some examples, the controller 5210 can include a second input device for receiving a request signal indicative of a received signal indicative of a user request, such as a wirelessly received signal.

It should be understood that controller 5200 may be arranged to perform a portion of a defined manipulation. For example, the user may initiate a maneuver to complete the defined maneuver after transferring control to the controller 5210. In at least some examples, the controller 5210 is arranged to change the position of the movable projection 5182 prior to performing, or without performing, the defined manipulation, e.g., prior to performing, or during performing, the manipulation under the control of a user. The controller 5210 may be arranged to indicate to a user the possibility of changing the position of the one or more movable projections 5182 and to control the output device in accordance with a user request to change the position of the one or more movable projections 5182. In at least some examples, the controller is arranged to automatically change the position of the one or more movable projections 5182 during performance of the defined manipulation and/or the user-controlled manipulation without requiring an explicit user request to change the position of the one or more movable projections 5182. Partial manipulation controlled by the controller may include changing the position of one or more movable projections 5182.

Fig. 27 illustrates a system 5300 according to an embodiment of the invention. The system 5300 includes the controller 5210 described above and shown in fig. 26.

The system 5300 includes an environment sensing device 5330 for determining information about the environment of the vehicle 5110. In particular, an environment sensing device 5330 is provided for determining the location of one or more features in the vicinity of the vehicle 5110. In at least some examples, a portion of the environment sensing device is associated with one or more movable projections 5182, e.g., one or more sensors or cameras mounted in or on the vehicle rearview mirror. The environment sensing means 5330 is arranged to output an environment signal indicative of the determined characteristic. The environmental signal may be environmental data, which may be stored in a memory. The environment sensing means may comprise one or more sensing devices, for example imaging devices such as cameras, or other sensing devices such as lidar, radar, ultrasound devices, sonar devices, and the like. The signals output by each of the sensing devices can be used to form a representation of the environment of the vehicle 5110, which is stored in memory for use by other systems of the vehicle 5110.

Here, the environment sensing means 5330 is arranged to determine the location of features such as: such as surface markings of painted lines indicating the perimeter of the port or objects such as walls, pillars or other vehicles with respect to which the vehicle is required to maneuver. The control device is arranged to determine from the environmental signal that there is no feature, such as a spacing between an obstructive feature (e.g. adjacent feature 5125 and object 5140 shown here). Accordingly, the control device is arranged to determine a void 5172 in which no feature, e.g. no obstructive feature, is located. In the event that the void 5172 is sufficiently large, the control means is arranged to determine a vehicle envelope 5174 suitable for accommodating the vehicle 5110 in the defined manoeuvre complete position. The vehicle envelope 5174 includes a target location adapted to accommodate the vehicle 5110 in a defined maneuver completion location. As such, here, the vehicle envelope 5174 includes the target defined maneuver completion location. In at least this example, the vehicle envelope 5174 is determined from one-dimensional characteristics and/or measurements and/or estimates. In particular, here, the vehicle envelope 5174 is determined from an ambient signal indicative of a length, such as an unobstructed length between features 5125, 5140. The unobstructed length is long enough for accommodating the vehicle 5110 in the defined maneuver completion location, where the length is the spacing 5176 between the features 5125, 5140, the spacing 5176 being greater than the vehicle width 5194 in the defined maneuver completion location. The defined maneuver may include, for example, parking in a parking position.

Here, the controller 5210 of the system 5300 includes a defined manipulator. The control device is arranged to control the vehicle 5110 to perform at least one defined manoeuvre. The controller 5210 can include a defined maneuver controller for controlling one or more systems of the vehicle 5110 to perform one or more defined maneuvers. The defined manipulation device may be associated with one or more actuators 5350 of the vehicle 5110. One or more actuators 5350 are provided for effecting movement of the vehicle 5110. The actuators may include one or more of a power steering mechanism arranged to provide steering of the wheels of the vehicle 5110 in accordance with signals received from the controller 5210. The second actuator may comprise a dynamic braking mechanism of the vehicle 5110 arranged to actuate a brake of the vehicle in dependence on a signal received from the controller 5210. The third actuator comprises a powertrain of the vehicle. The controller 5210 is arranged to control the steering of the vehicle wheels 5180 relative to the features 5125. The fourth actuator 5350 includes one or more mechanisms for changing the position of one or more movable projections 5182.

The system 5300 shown here includes a motion control device 5320. The motion control device 5320 may be a motion control unit. The motion control device 5320 is arranged to receive a manipulation signal output by the controller 5210. The motion control device 5320 is associated with one or more motion units of the vehicle 5110, which may form part of a powertrain (not shown) of the vehicle 5110. The motion unit may comprise one or more of the following: an internal combustion engine and one or more electric machines of the vehicle 5110. The powertrain is arranged to provide power or torque to cause movement of the vehicle 5110 along the longitudinal axis, i.e., forward or reverse movement of the vehicle 5100, in accordance with steering signals received from the controller 5210. The motion control device 5320 is arranged to control the application of torque to one or more wheels of the vehicle 5110 to move the vehicle 5110 along the longitudinal axis of the vehicle, even if the vehicle is moving generally forward or backward. The torque may include a driving torque, i.e., a torque applied in a direction of desired movement, such as forward. The torque may also include a braking torque, i.e., a torque applied to resist the driving torque. In at least some embodiments, both the driving torque and the braking torque can be applied simultaneously to provide low speed movement of the vehicle 5110. The braking torque may also be applied at least partially after the driving torque to achieve accurate movement of the vehicle 5110. To effect control of steering, the controller 5210 can communicate with the motion control device 5320. Thus, the one or more actuators 5350 may control the direction and movement of the vehicle to perform a defined maneuver. The defined manipulation is performed in accordance with the environment signal provided by environment sensing means 5330.

The one or more defined maneuvers that may be performed by the vehicle 5110 under the control of the controller 5210 may include a parking maneuver such as that shown in fig. 25(a) and 25(b), where the vehicle 5110 is controlled to reach a parked position.

As shown therein, system 5300 includes receiver apparatus 5310 configured to receive signal 5305. Signal 5305 may be wirelessly received from a mobile device 5390 associated with a person responsible for vehicle 5110. As described above, signal 5305 indicates a user request for vehicle movement of vehicle 5110. The receiver device 5310 is arranged to output a request signal to the input device 5230 of the controller 5210 as described above. The request signal may be output by the receiver device 5310 onto a communication bus of the vehicle 5110, which may communicatively couple the components of the system 5300.

The receiver device 5310 may be in the form of a radio unit 5310. The radio unit 5310 may include a receiver for receiving radio signals 5305 from the mobile device 5390. In some implementations, the radio unit 5310 may also include a transmitter or may be a transceiver 5310 configured to receive radio signals 5305 transmitted from the mobile device 5390 and to transmit the signals to the mobile device 5390. The radio unit 5103 and the mobile device 5390 may be arranged to provide a wireless local area network via which bi-directional communication may be conducted between the radio unit 5103 and the mobile device 5390. For example, the radio 5103 may be arranged to communicate with the mobile device 5390 via wifi (rtm). In alternative embodiments, other radio communication standards may be used for communication. In one example, communication between the radio 5103 and the mobile device 5390 is provided via bluetooth (RTM), although other protocols or standards are contemplated.

The mobile device 5390 may be an electronic key fob associated with the vehicle 5110, for example the mobile device 5390 may be used to gain access to the vehicle 5110 and activate the vehicle 5110 or power the vehicle 5110. In other implementations, the mobile device 5390 may be an electronic device associated with a person responsible for the vehicle 5100, such as a mobile phone, tablet, watch, wearable electronic device, or other computing device associated with the person. The mobile device 5390 can receive user input indicating that the person desires to move the vehicle 5110. The user input may be provided in the form of buttons or keys, activation of graphical display icons, gestures, or voice commands. Other forms of user input are also contemplated.

Fig. 28 shows a method 5400 according to an embodiment of the invention. Method 5400 is a method of controlling movement of vehicle 5110. The method 5400 can be formed by the controller 5210 and the system 5300 described above with reference to fig. 26 and 27. The method 5400 will be described with reference to fig. 29(a) and 29(b) corresponding to the scenarios shown in fig. 25(a) and 25(b), respectively, as an example.

Method 5400 generally includes the steps of: an environment signal is received 5410 from the environment sensing device 5330, the environment signal indicating a characteristic 5125 in the vicinity of the vehicle 5110, and a determination is made as to whether one or more movable projections 5182 of the vehicle 5182 should be changed or will require a change based on the characteristic 5125 in the vicinity of the vehicle 5110.

Referring to fig. 28, the illustrated embodiment of method 5400 includes the following steps: an environmental signal is received 5410 from environmental sensing device 5330. The controller 5210 determines 5420 whether the environmental signal indicates one or more characteristics 5125 in the vicinity of the vehicle 5110 corresponding to a scenario for which it is desired that one or more positions of one or more movable projections 5182 can be changed, either before executing the defining maneuver 5440 or during executing the defining maneuver 5440.

In fig. 29a and 29b, the vehicle 5110 is shown in a defined maneuver completed position within a vehicle envelope 5174, the vehicle envelope 5174 being defined within a void 5172 bounded by adjacent features 5125, 5140, similar to fig. 25(a) and 25 (b). In fig. 29a and 29b, the vehicle 5110 is shown in a defined maneuver completion position, wherein the vehicle 5110 in the closed configuration has a space 5192 between the vehicle 5110 and adjacent features 5125, 5140, one on each lateral side of the vehicle 5110. As shown here, the closed configuration of the vehicle 5110 includes a folded position of the movable projection 5182 of the vehicle 5110, shown here as a side view mirror. As shown here, the limited manipulation performed to reach the limited manipulation completion position in fig. 29a and 29b has been performed with the vehicle in the outside-vehicle occupant mode. Here, the restricting manipulation into the position in fig. 29a and 29b has been performed in the case where the occupant is located outside the vehicle at the time of at least the last part of the restricting manipulation. It should be appreciated that the vehicle envelope 5174 defined by the void 5172 is sized such that at least some of the vehicle orifice members 5188 are inaccessible or at least unable to fully open. Thus, access to or from the vehicle aperture through the vehicle aperture member 5188 is blocked. Further, the vehicle envelope 5174 defined by the void 5172 is sized such that performance of the defined maneuver may have been impeded or prevented by the vehicle projection 5182 being in the deployed position, e.g., the deployed position of the vehicle projection 5182 shown in fig. 25(a) and 25 (b). Therefore, performing the defined manipulation to reach the defined manipulation completion position in fig. 29a and 29b has included changing the position of the movable projection 5182 before or during the defined manipulation according to the environmental signal. Here, the mode for performing the performance of the limited manipulation has included the vehicle fold tab mode.

As will be appreciated from fig. 29a and 29b, in particular, prior to completion of the defined maneuver, the change in position of the one or more movable projections causes the vehicle 5110 to be maneuvered into the void 5172 in the defined maneuver, otherwise the vehicle 5110 may not be maneuvered into the void 5172 in the defined maneuver. The dimension 5194 of the vehicle 5110 becomes smaller (e.g., smaller than fig. 25a and 25b) as the position of the movable projection 5182 changes during execution of a partially defined maneuver in which the corresponding dimension 5176 of the void 5172 would otherwise impede or prevent execution, as shown in fig. 25a and 25 b. In particular, the vehicle width 5194 is reduced as shown herein to perform at least those portions of the defined maneuver. Thus, the vehicle 5110 can be maneuvered into a more restricted void 5172 with limited maneuvering as compared to the situation where the vehicle 5110 might otherwise enter the void 5172.

Once in the defined maneuver complete position, which is the park position in fig. 29(a) and 29(b), the user will typically apply the parking brake to hold the vehicle 5110 stationary with the engine off.

The controller 5210 may be arranged to allow user adaptation. For example, the user may be able to at least partially overwrite, program, or adjust the controller 5210 such that one or more of the following is implemented: the spacing or gap threshold for changing the position of the one or more movable projections is adaptable; the one or more movable projections are repositionable; a parameter (e.g., time, prompt, or specific input) for determining the positioning of the one or more movable projections. The controller 5210 may be arranged to be manually overwritten, programmed or adjusted, for example to adjust the output of the steering signals. Additionally or alternatively, the controller 5210 may be arranged to automatically or semi-automatically override, program or adjust the output of the manipulation signal, such as by learning from user behavior, for example repetitive user behavior associated with one or more of: inputting a mode; a geographic location; user identity (e.g., where the vehicle 5110 is not being used by multiple users at the same time). For example, the controller 5210 can be arranged to automatically change the position of one or more movable projections 5182 when the vehicle is positioned at a particular location (e.g., a house or garage) where the user has previously performed a defined maneuver into a known void.

It should be understood that other defined manipulations than those shown may be performed. For example, the vehicle 5110 may be inverted into the void 5172. Similarly, the movable projection 5182 can project at different locations or in different directions on the vehicle. For example, the movable projection 5182 can project upwardly and/or axially from the vehicle in addition to and/or in place of the lateral projection shown in fig. 25a and 25b (e.g., the movable projection can be an antenna or camera or other vehicle portion that projects upwardly or rearwardly from the vehicle 5110).

As a result of method 5400, the vehicle may be more advantageously positioned or configured after the defined maneuver is performed. It should also be understood that embodiments of the present invention are not limited to use in association with a defined maneuver. Changing the position of the movable projection of the vehicle in dependence on the environmental signal may be useful even when parking or when being driven by a human driver.

Sixth technique

Fig. 31 shows a vehicle 6110 according to an embodiment of the invention.

In fig. 31, the vehicle 6110 is shown in a defined maneuver start position, such as a parking position for the vehicle 6110, before the defined maneuver is performed. The vehicle shown here has a longitudinal axis 6112 and has a vehicle forward direction indicated by arrow 6114. There is shown terrain 6135, such as a road surface, in the vicinity of the vehicle. The terrain is not limited to being a road ground surface and may include, for example, another load bearing surface such as an off-road ground surface.

It should be understood that the defined maneuver may be a maneuver of the vehicle 6110, which maneuver of the vehicle 6110 is performed automatically by the vehicle 6110, i.e., under the control of one or more systems of the vehicle 6110. The defined maneuver may be considered to be performed automatically or at least semi-autonomously by the vehicle 6110. In fig. 31, the restricted maneuver may be a parking maneuver to control the vehicle 6110 to enter a parking structure or space. In at least some circumstances, it may be advantageous to perform a maneuver when a person controlling the vehicle 6110 is outside the vehicle 6110. For example, access to the vehicle 6110 may be restricted after performing a restricted maneuver.

The terrain may, for example, have a practical and/or perceived impact on the performance of the defined manipulation, for example physically and/or psychologically impacting the user's experience of performing the defined manipulation.

Embodiments of the present invention aim to ameliorate one or both of these problems.

Fig. 32 shows a controller 6200 or a control unit 6200, for example, included in the vehicle 6110 of fig. 31, according to an embodiment of the invention.

The controller 6200 includes a control device 6210, an input device 6230, and an output device 6240. In some embodiments, the controller includes memory devices 6220, such as one or more memory devices 6220 for storing data therein. The output device 6240 may include an electrical output for outputting the steering signal. The steering signal represents an instruction for the vehicle 6110 to move.

Here, the input device 6230 is configured to receive a terrain signal indicative of terrain 6135 in the vicinity of the vehicle 6110. The control device 6210 is arranged to control the output device 6240 to cause the vehicle 6110 to perform at least part of the defined manoeuvre in dependence on the terrain signal. Here, the control device 6210 is arranged to control the output device 6240 to cause the vehicle 6110 to perform at least part of the defined manoeuvre in accordance with the vehicle movement control property determined on the basis of the terrain signal. Thus, the vehicle 6110 is caused to perform a defined maneuver in a controlled manner appropriate to the terrain 6135.

The vehicle movement control attribute includes a speed parameter. Here, the speed parameter indicates a first sequential speed parameter. The control device 6210 is arranged to select the vehicle movement control attribute in dependence on the classification of the terrain 6135. Accordingly, the control device 6210 of the vehicle 6110 automatically selects parameters for performing the defined manoeuvre associated with the predetermined category of one or more terrains 6135. Here, the speed parameter indicates the speed, acceleration, and jerk of the vehicle 6110, which is the rate of change of the acceleration of the vehicle 6110. Thus, the vehicle 6110 is caused to perform the defined maneuver at the appropriate speed, acceleration, and jerk, such as effectively and/or without excessive acceleration of the vehicle 6110 or its user or content. For example, as illustrated herein using terrain 6135 of a particular road surface that may be smooth (e.g., due to loose debris or a muddy substrate), vehicle movement control attributes are selected that provide reduced speed parameters such as reduced maximum speed, maximum acceleration, and maximum jerk. Thus, where there is an increased likelihood of reduced grip (e.g., due to the surface under the vehicle wheels 6180) or at least an increased likelihood of reduced grip as perceived by the user, then the controller 6200 adjusts the performance of the defined maneuver to reduce the likelihood of the vehicle 6110 slipping or at least a reduced likelihood of the user perceiving the vehicle 6110 slipping. Thus, the vehicle 6110 is caused to perform a defined maneuver at an appropriate speed, acceleration, and rate of change of acceleration, which is physically and psychologically adapted to the terrain 6135 for user comfort.

It should be understood that for other terrain, other vehicle movement control attributes may be used. For example, the maximum speed parameter of the vehicle movement control attribute corresponding to smooth terrain 6135 in fig. 31 may be less than the maximum speed parameter of the vehicle movement control attribute corresponding to high grip terrain, such as dry, stable asphalt road surfaces. Thus, the maximum speed parameter can be changed to accommodate changes in terrain 6135. It should be understood that the vehicle movement control attributes may be changed during execution of the defined maneuver: for example, if the terrain changes (e.g., if the vehicle 6110 moves onto a different terrain 6135 after the defined maneuver begins).

To perform the defined maneuver, the vehicle 6110 includes an environment sensing device for determining the location of features in the vicinity of the vehicle 6110. The environment sensing means may comprise one or more sensing devices or imaging devices. One or more sensing devices may emit radiation and receive radiation reflected from features in the vicinity of the vehicle, e.g., ultrasonic sensing devices, although it should be understood that the invention is not limited in this respect. Such an environment sensing apparatus has an accurate minimum distance at which the position of the feature can be determined due to, for example, the resolution of the imaging device or the signal-to-noise ratio of the sensing device.

It should be understood that in at least some examples, the environment sensing device provides a terrain signal or at least an input thereto. For example, the environment sensing device may include a sensor or an imaging device of a type capable of detecting a ground surface or a ground surface. Additional or alternative inputs from or to the terrain signal may include one or more of: one or more brake sensors; one or more accelerometers; one or more suspension sensors; one or more thermometers; one or more wipers; one or more traction sensors; at least one driving mode (e.g., "off-road," "sport," "normal," etc.). For example, in the case of manual and/or automatic activation of wipers, then the control device 6210 may adapt vehicle movement control attributes, such as wet terrain weather, at reduced speed parameters accordingly. Similarly, in at least some examples, the terrain is determined using a manually and/or automatically activated driving mode of the vehicle 6110, and the control device 6210 is arranged to adapt the output device 6240 accordingly (e.g., to reduce speed parameters on off-road terrain). The terrain signal may depend at least in part on terrain sensing or measurement. Additionally or alternatively, the terrain signal may depend at least in part on the estimated terrain. The estimated terrain may be derived from one or more other parameters or states. For example, where the vehicle is at a geographic location, then the estimated terrain may be considered an indication of the terrain, e.g., based at least in part on previous terrain sensing or estimation.

Once in the defined maneuver completion position (not shown), the user will typically apply the parking brake to hold the vehicle stationary with the engine off.

The control device 6210 may be formed by one or more electronic processing means, such as an electronic processor. The processor can be operable to execute computer readable instructions stored in one or more memory devices 6220. As will be explained, the control device 6210 is arranged to control the output device 6240 to output the steering signal in dependence on the ambient signal. In some embodiments, the input device 6230 and the output device 6240 may be combined, for example, by being formed of I/O units or interface units. For example, the controller 6210 may include an interface to a network forming a communication bus of the 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.

Here, the input device 6230 includes an electrical input for receiving a terrain signal. The input device 6230 may include an electrical input for receiving an environmental signal. The input device 6230 may include an electrical input for receiving a request signal. In at least some examples, the controller 6210 includes a second input device for receiving a request signal indicative of a received signal indicative of a user request, such as a wirelessly received signal.

It should be understood that the controller 6200 may be arranged to perform a portion of the defined maneuver. For example, the user can initiate a maneuver to complete the defined maneuver after transferring control to the controller 6210.

Fig. 33 illustrates a system 6300 according to an embodiment of the invention. The system 6300 includes the controller 6210 described above and shown in fig. 32.

The system 6300 includes a terrain sensing device 6331 for determining information about the terrain in the vicinity of the vehicle 6110. The terrain sensing device 6331 is arranged to output a terrain signal indicative of the determined terrain 6135. The terrain signal may be terrain data, which may be stored in a memory. The terrain sensing apparatus may comprise one or more sensing devices, for example: environmental sensing means (e.g., imaging devices such as cameras, or other sensing devices such as lidar, radar, ultrasonic devices, sonar devices, etc.); a thermometer; a precipitation sensor; a traction force sensor; and a brake sensor. The signals output by each of the sensing devices can be used to form a representation of the terrain in the vicinity of the vehicle 6110, which is stored in memory for use by other systems of the vehicle 6110. In at least some examples, the terrain signal depends at least in part on the estimated terrain. The estimated terrain may be based on, for example, geographic location, driving patterns, and/or another vehicle system in addition to or in place of the terrain sensing device.

Here, the vehicle includes an environment sensing device for: determining a location of at least one feature in the vicinity of the vehicle; and outputting an ambient signal indicative thereof. The environment sensing means is arranged to determine the position of features such as: such as surface markings of painted lines indicating the perimeter of the port or objects such as walls, pillars or other vehicles with respect to which the vehicle is required to maneuver. The control device is arranged to determine the absence of features, such as the spacing between obstructive features (not shown), from the ambient signal. Accordingly, the control device is arranged to determine a void in which no feature, e.g. no obstructive feature, is located. In case the vacancy is large enough, the control means is arranged to determine a vehicle envelope adapted to accommodate the vehicle 6110 in the defined manoeuvre completed position. The vehicle envelope includes a target location adapted to accommodate the vehicle 6110 in a defined maneuver completion location. As such, the vehicle envelope includes the target defined maneuver completion location. In at least some examples, the vehicle envelope is determined from one-dimensional characteristics and/or measurements and/or estimates. In particular, the vehicle envelope is determined from an ambient signal indicating a length, such as an unobstructed length between features (not shown). The unobstructed length is long enough for accommodating the vehicle 6110 in the defined maneuver completion location, which is the spacing between features that is greater than the vehicle length or width in the defined maneuver completion location. The defined maneuver may include, for example, parking in a parking position.

Here, the controller 6210 of the system 6300 includes a defined manipulation device. The control device is arranged to control the vehicle 6110 to perform at least one defined maneuver. The controller 6210 may include a defined maneuver controller for controlling one or more systems of the vehicle 6110 to perform one or more defined maneuvers. The defined manipulation device may be associated with one or more actuators 6350 of the vehicle 6110. One or more actuators 6350 are provided for effecting movement of the vehicle 6110. The actuators can include one or more of power steering mechanisms arranged to provide steering of the wheels of the vehicle 6110 in accordance with signals received from the controller 6210. The second actuator may comprise a dynamic braking mechanism of the vehicle 6110 arranged to actuate a brake of the vehicle in dependence of a signal received from the controller 6210. The third actuator comprises a powertrain of the vehicle. The controller 6210 is arranged to control the steering of the vehicle wheels 6180 relative to the feature.

The system 6300 shown here includes a motion control device 6320. The motion control device 6320 may be a motion control unit. The motion control means 6320 is arranged to receive the manipulation signal output by the controller 6210. The motion control device 6320 is associated with one or more motion units of the vehicle 6110, which may form part of a powertrain (not shown) of the vehicle 6110. The motion unit may comprise one or more of the following: an internal combustion engine and one or more electric machines of the vehicle 6110. The powertrain is arranged to provide power or torque to cause movement of vehicle 6110 along the longitudinal axis, i.e., forward or reverse movement of vehicle 6100, in accordance with the steering signals received from controller 6210. The motion control device 6320 is arranged to control the application of torque to one or more wheels of the vehicle 6110 to move the vehicle 6110 along the longitudinal axis of the vehicle, even if the vehicle is moving generally forward or backward. The torque may include a driving torque, i.e., a torque applied in a direction of desired movement, such as forward. The torque may also include a braking torque, i.e., a torque applied to resist the driving torque. In at least some embodiments, both the drive torque and the brake torque can be applied simultaneously to provide low speed movement of the vehicle 6110. The braking torque can also be applied at least partially after the driving torque to achieve accurate movement of the vehicle 6110. To enable control of steering, the controller 6210 may be in communication with a motion control device 6320. Thus, one or more actuators 6350 may control the direction and movement of the vehicle to perform a defined maneuver. The defining manipulation is performed in dependence of a terrain signal provided by the terrain sensing device 6331.

The one or more defined maneuvers that may be performed by the vehicle 6110 under the control of the controller 6210 may include a parking maneuver, such as a parking maneuver, in which the vehicle 6110 is controlled to reach a parking location.

As shown here, the system 6300 includes a receiver apparatus 6310 for receiving a signal 6305. The signal 6305 may be received wirelessly from a mobile device 6390 associated with a person responsible for the vehicle 6110. The signal 6305 indicates a user request for vehicle movement of the vehicle 6110. The receiver device 6310 is arranged to output a request signal to the input device 6230 of the controller 6210 as described above. The request signal may be output by the receiver device 6310 onto a communication bus of the vehicle 6110, which may communicatively couple the components of the system 6300.

The receiver device 6310 may be in the form of a radio unit 6310. The radio unit 6310 may comprise a receiver for receiving radio signals 6305 from the mobile device 6390. In some embodiments, the radio unit 6310 may also include a transmitter, or may be a transceiver 6310 configured to receive radio signals 6305 transmitted from the mobile device 6390 and transmit the signals to the mobile device 6390. The radio 6103 and mobile device 6390 may be arranged to provide a wireless local area network via which bi-directional communication may be conducted between the radio 6103 and the mobile device 6390. For example, radio 6103 may be arranged to communicate with mobile device 6390 via wifi (rtm). In alternative embodiments, other radio communication standards may be used for communication. In one example, communication between radio 6103 and mobile device 6390 is provided via bluetooth (RTM), although other protocols or standards are contemplated.

The mobile device 6390 may be an electronic key fob associated with the vehicle 6110, for example, the mobile device 6390 may be used to gain entry into the vehicle 6110 and activate the vehicle 6110 or power the vehicle 6110. In other implementations, mobile device 6390 may be an electronic device associated with a person responsible for vehicle 6100, such as a mobile phone, a tablet, a watch, a wearable electronic device, or other computing device associated with the person. The mobile device 6390 can receive a user input indicating that the person desires to move the vehicle 6110. The user input may be provided in the form of buttons or keys, activation of graphical display icons, gestures, or voice commands. Other forms of user input are also contemplated.

Fig. 34 illustrates a method 6400 according to an embodiment of the invention. Method 6400 is a method of controlling movement of vehicle 6110. The method 6400 can be formed by the controller 6210 and the system 6300 described above with reference to fig. 32 and 33. Method 6400 will be described, by way of example, with reference to FIG. 35, which generally corresponds to the scenario illustrated in FIG. 31.

Method 6400 broadly includes the steps of: receive 6410 a terrain signal from the terrain sensing device 6331, the terrain signal being indicative of terrain 6135 in the vicinity of the vehicle 6110, and control 6440 the vehicle 6110 to perform a defined maneuver in accordance with the terrain signal.

Referring to fig. 34, the illustrated embodiment of method 6400 includes the following steps: a terrain signal is received 6410 from a terrain sensing device 6331. The controller 6210 determines 6420 whether the terrain signal is indicative of terrain associated with performance of the fitting 6430 definition maneuver 6440, such as according to a particular vehicle movement control attribute corresponding to the sensed terrain.

In fig. 35, the vehicle 6110 is shown as being located on terrain 6135 similar to fig. 31. The control device 6210 is arranged to control the output device 6240 to cause the vehicle 6110 to perform at least part of the defined manoeuvre in accordance with a vehicle movement control attribute determined based on the terrain signal indicative of the terrain 6135 and based on the ambient environmental condition signal indicative of the ambient environmental condition 6136. Thus, the vehicle 6110 is caused to perform a defined maneuver in a controlled manner appropriate to the terrain 6135 and ambient conditions 6136. The control device 6210 is arranged to select the vehicle movement control attribute in dependence on the terrain 6135 and the category of the ambient conditions 6136. Thus, the vehicle 6110 automatically selects parameters for performing the defined manoeuvre associated with the predetermined category of terrain 135 and ambient conditions 136.

The feature 6135 is a surface. In at least some examples, the surface can include a ground surface such as a load bearing surface (e.g., a vehicle load bearing). The surface may include a drivable surface such as for receiving a vehicle wheel 6180 thereon. The surface may comprise a substrate.

In at least some examples, the category of terrain includes one or more of: road topography; off-road terrain; rough terrain; smooth terrain; slippery terrain; flat terrain; a material. Here, the terrain 6135 is classified according to one or more parameters corresponding to one or more of: roughness, smoothness, roughness, grip, slip, friction, one or more slopes, one or more inclinations, one or more materials. The one or more parameters include magnitude and/or direction.

In some examples, in addition to or as an alternative to the terrain-dependent signal, the control device 6210 is arranged to control the output device 6240 in dependence on a terrain signal indicative of a terrain in the vicinity of the vehicle 6110.

Here, the ambient condition 6136 is shown as rain, such as rain. In other examples, ambient conditions 6136 may include, for example: (ii) temperature; the temperature of the air; surface temperature, such as road temperature; precipitation, such as rain, snow, hail; moisture; moisture; atomizing; mist; particles, such as airborne particles; a level of illumination; wind; wind speed; the wind direction.

FIG. 36 shows a side view of an example vehicle, as shown here, an automobile (private, passenger, non-service), according to an embodiment of the invention.

As a result of method 6400, the vehicle may be more advantageously located or configured after the defined maneuver is performed. It should also be understood that embodiments of the present invention are not limited to use in association with a defined maneuver. For example, adapting or providing performance such as defining a portion of a maneuver according to terrain may be useful even when driven by a human driver.

Seventh technique

Fig. 37a and 37b show a vehicle 7110 in accordance with an embodiment of the present invention in two different scenarios. In fig. 37a and 37b, vehicle 7110 is shown having a vehicle forward direction indicated by arrow 7114 shown parallel to a central longitudinal axis 7112 of vehicle 7110. In both scenarios, the vehicle 7110 is shown at a defined maneuver start position and a defined maneuver complete position of the vehicle 7110 shown in phantom. In both of the particular scenarios shown in fig. 37a and 37b, it may be desirable to perform a defined maneuver to park the vehicle 7110 in the void 7172 in a defined maneuver complete position.

In fig. 37(a), the vehicle 7110 is shown in phantom at a target or desired defined maneuver completion location in a vehicle envelope 7174 in the void 7172, wherein a defined maneuver has been performed in which the vehicle performs a street-side or parallel parking defined maneuver to enter the void 7172, wherein the vehicle 7110 moves in a plurality of consecutive trajectory segments in a forward direction 7114 and a rearward direction, respectively. Vehicle 7110 is shown in relation to a feature 7125 in the vicinity of vehicle 7110. In this example, feature 7125 is the following object: the object is a wall parallel to the longitudinal axis 7112 of the vehicle 7110 in the defined maneuver completion position, i.e., generally parallel to one side (e.g., the left side, here) of the vehicle 7110. The object is not limited to being a wall 7125 and can be, for example, a bollard, fence, obstruction, or other object at or adjacent the void 7172. As shown here, other features 7140, 7150 in the form of stationary vehicles define each opposing longitudinal end of the void 7172.

In fig. 37a, the dimensions of the vehicle, shown here as width 7194, are such that the vehicle 7110 may be maneuvered into an apparent vehicle envelope 7174 in the void 7172, wherein the corresponding dimensions of the vehicle envelope 7174 of the void, shown here as width 7176, are sufficiently wider as shown here. Thus, the vehicle 7110 itself fits into the void 7172 with clearance such as indicated by the spacing 7192 from the movable protrusion 7182 of the vehicle to the wall feature 7125. It should be understood that although shown here in plan view, the depicted scene is three-dimensional.

Similarly, the void 7172 in the scenario in fig. 37b may be such that the vehicle envelope 7174 appears to accommodate the vehicle 7110 therein with a gap 7192 between the vehicle 7110 and the adjacent feature 7125 in the closed configuration at the defined maneuver completion location as shown in dashed lines. In the scenario of fig. 37b, two targets or desired defined maneuver completion locations are shown in dashed lines, indicating the possibility of parking the vehicle 7110 in any of at least two vehicle envelopes 7172 for the illustrated scenario. As shown here, the two vehicle envelopes 7172 correspond to two respective predetermined parking lots or spaces, such as may be designated by markings on the road surface. It should be appreciated that different numbers of trajectory portions may be executed to reach a defined maneuver completion location depending on the desired parking space or parking lot (e.g., left or right defined maneuver completion locations as shown).

Thus, in both scenarios, there may be a trade-off between: defining a maneuver completion location or an accuracy or finish of the vehicle in the defined maneuver completion location; and the number of track portions performed to reach the defined maneuver completion location.

Embodiments of the present invention aim to ameliorate this problem.

In both cases shown in fig. 37(a) and 37(b), it should be understood that the defined maneuver may be a maneuver of the vehicle 7110, the maneuver of the vehicle 7110 being performed automatically by the vehicle 7110, i.e., under control of one or more systems of the vehicle 7110. The defined maneuver may be considered to be performed automatically or at least semi-autonomously by the vehicle 7110. As shown, in fig. 37a and 1b, the defined maneuver may be a parking maneuver to control the vehicle 7110 to enter a parking space.

In both scenarios, it may be advantageous to perform a maneuver when a person controlling the vehicle 7110 is outside the vehicle 7110. For example, in fig. 37a and 1b, access to the vehicle 7110 may be restricted after performing a restricted maneuver (e.g., where the feature 7125 forms a barrier with respect to opening the door 7188).

To perform the defined maneuver, the vehicle 7110 includes an environment sensing device for determining the location of the feature 7125 in the vicinity of the vehicle 7110. The environment sensing means may comprise one or more sensing devices or imaging devices. One or more sensing devices may emit radiation and receive radiation reflected from features in the vicinity of the vehicle, e.g., ultrasonic sensing devices, although it should be understood that the invention is not limited in this respect. Such an environmental sensing apparatus has a minimum distance that can determine the accuracy of the location of the feature 7125 due to, for example, the resolution of the imaging device or the signal-to-noise ratio of the sensing device.

In the particular example shown here, the vehicle 7110 includes a portion of the environment sensing device in the vehicle movable protrusion 7182 or on the vehicle movable protrusion 7182. For example, each side or rear view mirror of vehicle 7110 may have a camera or the like mounted thereto or thereon.

Fig. 38 shows a controller 7200 or a control unit 7200 in a vehicle 7110, for example, included in fig. 37(a) and 37(b), according to an embodiment of the present invention.

The controller 7200 includes a control device 7210, an input device 7230, and an output device 7240. In some embodiments, the controller includes a memory device 7220, such as one or more memory devices 7220 for storing data therein. The output device 7240 can include an electrical output for outputting a steering signal. The manipulation signal represents an instruction for movement of the vehicle 7110. The instructions provided by the maneuver signals are provided to cause the vehicle 7110 to perform the defined maneuver. Here, the controller 7200 can determine one or more of the features 7125, 7140, 7150 as such that a planned trajectory for performing a defined maneuver can be performed within a number of trajectory portions to a defined maneuver completion position within a defined maneuver completion position tolerance range. Here, the control device 7210 is arranged to determine a defined manipulation completion position tolerance range from the environmental signal. The control device 7210 may determine that the defined maneuver may be performed with a different number of trajectory parts relative to a different defined maneuver completion position tolerance range. Advantageously, the vehicle 7110 may be caused to perform defined maneuvers within the number of adaptable trajectory portions, for example, for features in the vicinity of the vehicle. For example, a larger vehicle position tolerance range may exist for a smaller void 7172 for accommodating the vehicle 7110, such as to enable the vehicle 7110 to perform defined maneuvers with a smaller number of trajectory parts, say where it may be more acceptable or desirable for the vehicle to be in the void 7172 or to have a smaller precise angle or relative position with respect to the void 7172. Alternatively, for example, where a small precise angle or relative position in the void 7172 or relative to the void 7172 may be less noticeable, a larger vehicle position tolerance range may exist for a larger void 7172 for accommodating the vehicle 7110, such as to enable the vehicle 7110 to perform defined maneuvers with a smaller number of trajectory segments.

The control device 7210 may be formed by one or more electronic processing devices, such as an electronic processor. The processor may be operable to execute computer readable instructions stored in one or more memory devices 7220. As will be explained, the control device 7210 is arranged to control the output device 7240 to output a steering signal in dependence on the ambient signal. In some embodiments, the input device 7230 and the output device 7240 can be combined, for example, by being formed from I/O cells or interface cells. For example, the controller 7210 can include an interface to a network that forms a communication bus of the 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 device 7230 can include an electrical input for receiving an environmental signal. The input device 7230 may include an electrical input for receiving a request signal. Here, the request signal indicates a wirelessly received signal representing a user request for movement of the vehicle 7110.

As shown here, the memory device 7220 can be used to store data from the input device 7230. In particular, the memory device may store data about the features 7125, 7140, 7150, or the slots 7172 for future use. For example, where an occupant or user of the vehicle 7110 has actively selected (e.g., by inputting one or more parameter inputs) or implicitly shown (e.g., by repeated behavior or usage patterns) a preference for a defined maneuver completion position tolerance range and/or number of trajectory parts for one or more scenarios, the memory device may store data corresponding to the preference to provide a default and/or automatic tolerance range and/or number of trajectory parts in accordance with inputs (e.g., environmental signals and/or position signals, etc.) indicative of such scenarios or similar scenarios for the one or more preferences.

The data may be stored for use during and before performing the defined manipulation. Additionally or alternatively, the data may be stored for use during subsequent qualification manipulations. For example, when data is stored before or during execution of a defined maneuver to a defined maneuver completion location as shown in dashed lines in fig. 37a or 37b, then the stored data may be used for or during a subsequent defined maneuver, such as a maneuver to take a car from the defined maneuver completion location of fig. 37a or 37 b. In the event that stored data, e.g., data of a feature 7125, 7140, is used to perform at least a portion of the defined manipulation, the controller 7200 can perform a check, such as on the validity or continued validity of the data. For example, the controller may validate the data with another input, e.g., with an input from another portion of the environment sensing device (e.g., another sensor or camera located at another portion of the vehicle 7110 that is capable of confirming the continued presence and/or location of one or more features 7125, 7140).

In at least some examples, the controller 7210 can include a second input device for receiving a request signal indicative of a received signal indicative of a user request, e.g., a wirelessly received signal.

It should be understood that the controller 7200 can be arranged to perform a portion of the defined manipulation. For example, the user may initiate a manipulation to perform a defined manipulation to a defined manipulation completion location after transferring control to the controller 7210. The number of track sections can be determined from defining the beginning of the maneuver, for example, from outside the slot 7172 at the beginning of the maneuver or at any time and at any place before the user transfers control to the controller.

Fig. 39 illustrates a system 7300 according to an embodiment of the invention. System 7300 includes controller 7210 described above and shown in fig. 38.

The system 7300 includes an environment sensing device 7330 for determining information about the environment of the vehicle 7110. In particular, an environment sensing device 7330 is provided for determining the location of one or more features in the vicinity of the vehicle 7110. In at least some examples, a portion of the environment sensing device is associated with one or more movable protrusions 7182, e.g., one or more sensors or cameras mounted in or on the vehicle rearview mirror. The environment sensing means 7330 is arranged to output an environment signal indicative of the determined characteristic. The environmental signal may be environmental data, which may be stored in a memory. The environment sensing means may comprise one or more sensing devices, for example imaging devices such as cameras, or other sensing devices such as lidar, radar, ultrasound devices, sonar devices, and the like. The signals output by each of the sensing devices can be used to form a representation of the environment of the vehicle 7110, which is stored in memory for use by other systems of the vehicle 7110.

Here, the environment sensing means 7330 is arranged to determine the position of features such as: such as surface markings of painted lines indicating the perimeter of the port or objects such as walls, pillars or other vehicles with respect to which the vehicle is required to maneuver. The control device is arranged to determine the absence of features, such as the spacing between obstructive features (e.g. adjacent features 7140, 7150 shown here), from the ambient signal. Accordingly, the control device is arranged to determine a void 7172 in which no features, e.g., no obstructive features, are located. In the event that the void 7172 is sufficiently large, the control apparatus is arranged to determine a vehicle envelope 7174 suitable for housing the vehicle 7110 in the defined maneuver completion position. Vehicle envelope 7174 includes a target location adapted to accommodate vehicle 7110 in a defined maneuver completion location. As such, here, the vehicle envelope 7174 includes the target defined maneuver completion location. In at least this example, the vehicle envelope 7174 is determined from one-dimensional characteristics and/or measurements and/or estimations. In particular, here, the vehicle envelope 7174 is determined from an ambient signal indicating a length, e.g., an unobstructed length between features 7140, 7150. The unobstructed length is long enough for accommodating the vehicle 7110 in the defined maneuver completion location, where the length is the spacing between the features 7140, 7150 that is greater than the vehicle length in the defined maneuver completion location. As shown here, the void 7172 is large enough to provide a plurality of possible vehicle envelopes 7174 for accommodating the vehicle 7110 in the various defined maneuver completion locations. The defined maneuver may include, for example, parking in a parking position.

Here, the controller 7210 of system 7300 includes a defined steering device. The control device is arranged to control the vehicle 7110 to perform at least one defined maneuver. The controller 7210 can include a defined maneuver controller for controlling one or more systems of the vehicle 7110 to perform one or more defined maneuvers. The limited maneuvering device may be associated with one or more actuators 7350 of the vehicle 7110. One or more actuators 7350 are provided to effect movement of the vehicle 110. The actuators may comprise one or more of a power steering mechanism arranged to provide steering of the wheels of the vehicle 110 in dependence on signals received from the controller 7210. The second actuator may comprise a dynamic braking mechanism of the vehicle 7110 arranged to actuate brakes of the vehicle in accordance with signals received from the controller 7210. The third actuator comprises a powertrain of the vehicle. The controller 7210 is arranged to control steering of the vehicle wheels 7180 relative to the features 7125. The fourth actuator 7350 includes one or more mechanisms for changing the position of one or more movable protrusions 7182.

The system 7300 shown here includes a motion control 7320. The motion control device 7320 may be a motion control unit. The motion control 7320 is arranged to receive steering signals output by the controller 7210. Motion control device 7320 is associated with one or more motion units of vehicle 7110, which may form part of a powertrain (not shown) of vehicle 7110. The motion unit may comprise one or more of the following: an internal combustion engine and one or more electric machines of the vehicle 7110. The powertrain is arranged to provide power or torque to cause movement of the vehicle 7110 along a longitudinal axis, i.e., forward or reverse movement of the vehicle 7100, in accordance with steering signals received from the controller 7210. The motion control device 7320 is arranged to control the application of torque to one or more wheels of the vehicle 7110 to move the vehicle 7110 along the longitudinal axis of the vehicle, even if the vehicle is moving generally forward or backward. The torque may include a driving torque, i.e., a torque applied in a direction of desired movement, such as forward. The torque may also include a braking torque, i.e., a torque applied to resist the driving torque. In at least some embodiments, both the driving torque and the braking torque can be applied simultaneously to provide low speed movement of the vehicle 7110. The braking torque may also be applied at least partially after the driving torque to achieve accurate movement of the vehicle 7110. To enable control of steering, the controller 7210 may communicate with a motion control 7320. Thus, one or more actuators 7350 may control the direction and movement of the vehicle to perform defined maneuvers. The defined manipulation is performed in accordance with the environment signal provided by the environment sensing device 7330.

The one or more defined maneuvers that may be performed by the vehicle 7110 under the control of the controller 7210 may include a parking maneuver such as those illustrated in fig. 37(a) and 37(b), wherein the vehicle 7110 is controlled to reach a parked position.

As shown here, system 7300 includes a receiver apparatus 7310 for receiving a signal 7305. The signal 7305 may be received wirelessly from a mobile device 7390 associated with a person responsible for the vehicle 7110. As described above, the signal 7305 indicates a user request for vehicle movement of the vehicle 7110. The receiver device 7310 is arranged to output a request signal to the input device 7230 of the controller 7210 as described above. The request signal may be output by receiver device 7310 onto a communication bus of vehicle 7110, which may communicatively couple the components of system 7300.

Receiver device 7310 may be in the form of a radio unit 7310. Radio unit 7310 may include a receiver for receiving radio signals 7305 from mobile device 7390. In some embodiments, the radio unit 7310 may also include a transmitter, or may be a transceiver 7310 configured to receive radio signals 7305 transmitted from the mobile device 7390 and transmit the signals to the mobile device 7390. The radio unit 7103 and the mobile device 7390 may be arranged to provide a wireless local area network via which two-way communication may be conducted between the radio unit 7103 and the mobile device 7390. For example, the radio unit 7103 may be arranged to communicate with the mobile device 7390 over wifi (rtm). In alternative embodiments, other radio communication standards may be used for communication. In one example, communication between the radio unit 7103 and the mobile device 7390 is provided via bluetooth (RTM), although other protocols or standards are contemplated.

The mobile device 7390 may be an electronic key fob associated with the vehicle 7110, for example the mobile device 7390 may be used to gain access to the vehicle 7110 and activate the vehicle 7110 or power the vehicle 7110. In other implementations, mobile device 7390 may be an electronic device associated with the person responsible for vehicle 7100, such as a mobile phone, a tablet, a watch, a wearable electronic device, or other computing device associated with the person. The mobile device 7390 can receive user input indicating that the person desires to move the vehicle 7110. The user input may be provided in the form of buttons or keys, activation of graphical display icons, gestures, or voice commands. Other forms of user input are also contemplated.

Fig. 40 illustrates a method 7400 according to an embodiment of the invention. Method 7400 is a method of controlling movement of vehicle 7110. The method 7400 may be formed from the controller 7210 and the system 7300 described above with reference to fig. 38 and 39. The method 7400 will be described with reference to fig. 41(a) to 41(h) corresponding to the scenes shown in fig. 37(a) and 37(b), respectively, as an example and with respect to 41(i) and 41 (j).

Method 7400 generally includes the steps of: receive 7410 an environmental signal from an environmental sensing device 7330, the environmental signal indicative of a feature 7125, 7140, 7150 proximate the vehicle 7110, and determine a planned trajectory from the environmental signal to perform a defined maneuver within a number of trajectory portions to reach a defined maneuver completion position within a defined maneuver completion position tolerance range with respect to the feature 7125, 7140, 7150 proximate the vehicle 7110. Here, the limited manipulation completion position tolerance range is determined by the controller 7200 based on the environment signal.

Referring to fig. 40, the illustrated embodiment of method 7400 includes the following steps: an environmental signal is received 7410 from an environmental sensing device 7330. The controller 7210 determines 7420 whether the environmental signal indicates one or more features 7125, 7140, 7150 in the vicinity of the vehicle 7110 corresponding to the void 7172 for which a planned trajectory within a defined number of trajectory portions to a defined maneuver completion location having a tolerance range may be determined. In at least some examples, the method includes the optional step 7425 of: one or both of varying the number of track portions and/or defining a range of steering completion position tolerances. For example, in a case where the defined manipulation can be performed in a smaller number of trajectory parts to reach a defined manipulation completion position of lower precision such as with a larger tolerance range, such a selection may be provided to the user. In at least some examples, the defined manipulations can be performed with different discrete (e.g., two, three, or more different) defined numbers of track portions and/or tolerance ranges. For example, for the detected null 7172, the defined manipulation may be performed within six track portions to a defined manipulation completion position having a first tolerance range; or performing a defined maneuver within five trajectory parts to a defined maneuver completion position having a second (larger) tolerance range; or perform a defined maneuver within the four track sections to a defined maneuver complete position having a third (larger) tolerance range. The defined manipulations may be capable of being performed in different tracks, each track including a different number of track portions (e.g., a first track having six track portions, a second track having five track portions, a third track having four track portions, etc.).

In fig. 41(e), 41(f) and 41(g), 41(h), respectively, the vehicle 7110 is shown in a defined maneuver completed position in a vehicle envelope 7174 defined in a void 7172, the void 7172 bounded by adjacent features 7125, 7140, 7150, similar to fig. 37(a) and 37 (b). Fig. 35a to 35e sequentially show a vehicle that performs a limited maneuver according to an embodiment of the present invention. Fig. 35(a) shows vehicle 7110 at or near the beginning of the first trajectory portion defining the maneuver, where vehicle 7110 moves back into the void 7172 in a direction opposite to the heading 7114 of vehicle 7110. Fig. 41(b) shows vehicle 7110 at or near the end of the first track portion defining the maneuver, shortly before changing the longitudinal direction to begin the second track portion defining the maneuver, where vehicle 7110 moves in a forward direction 7110. Fig. 41(c) shows the vehicle at or near the end of the second track portion defining the maneuver, shortly before changing the longitudinal direction to begin the third track portion defining the maneuver, where the vehicle 7110 is moving in the reverse direction. Fig. 41(d) shows vehicle 7110 at or near the end of the third trajectory portion defining the maneuver, shortly before changing the longitudinal direction to begin the fourth trajectory portion defining the maneuver, where vehicle 7110 moves in a forward direction 7114. Fig. 41 shows the vehicle 7110 in a defined maneuver complete position of the fourth trajectory portion of the defined maneuver completed. Here, the vehicle 7110 is shown having completed a defined maneuver into four trajectory portions of a defined maneuver completion location having a small tolerance range, e.g., determined from environmental signals and optionally from another parameter or input (e.g., user selection).

Fig. 41(f) shows an alternative defined maneuver completion position of the defined maneuver completion position in fig. 41(e), wherein the vehicle 7110 has performed the defined maneuver with fewer trajectory parts to the defined maneuver completion position having a larger tolerance range relative to the tolerance range in fig. 41 (e). For example, the defined manipulation may be performed with the similar first trajectory part between positions similar to those in fig. 41(a) and 41(b) and the second trajectory part from the position similar to the position of fig. 41(b) to the position of fig. 41(f) to reach the defined manipulation completion position in fig. 41 (f). Therefore, it should be understood that the controller 7200 is arranged so that the defined manipulation can be performed with a different number of trajectory parts to a defined manipulation completion position having a different tolerance range. The controller 7200 can be arranged to provide and/or select a different number of track portions and/or tolerance ranges depending on the characteristics of the environmental signal, such as the null 7172. For example, the controller 7200 can be arranged to provide and/or select a different number of trajectory portions and/or tolerance ranges depending on the size of the void 7172, the alignment of the adjacent objects 7140, 7150, or other parameters associated with the void. Additionally or alternatively, the controller 7200 can be arranged to provide and/or select a different number of track portions and/or tolerance ranges depending on other parameters, such as one or more of the following: ambient environmental conditions (e.g., rain, temperature, brightness, darkness, time of day, day of week, etc.); terrain conditions (e.g., road surface conditions, off-road surface conditions, grade, etc.); the presence of an occupant in the vehicle.

Fig. 41g shows the position of the vehicle 7110 after movement of the vehicle according to an embodiment of the invention in a scenario similar to fig. 37 b. Here, the vehicle 7110 has performed a defined maneuver having a single trajectory portion, for example, in a reverse direction from the position in fig. 37(b) to a defined maneuver complete position in fig. 41(g) with a defined maneuver complete position tolerance range. Similarly, fig. 41h shows the position of the vehicle 7110 after another movement of the vehicle 7110 in a scenario similar to fig. 37b, where the vehicle 7110 has performed a defined maneuver having two trajectory portions, first in a reverse direction from the position in fig. 37(b) to a defined maneuver complete position in fig. 41(h) having a defined maneuver complete position tolerance range and then in a forward direction 7114. For example, an intermediate position between the first trajectory part from the position in fig. 37(b) and the second trajectory part to the defined manipulation completion position in fig. 41(h) may be similar to the position shown as the defined manipulation completion position in fig. 41 (g). Here, it should be understood that the controller 7200 with input from a user may have selected a particular vehicle envelope 7174 from the blank 7172 for a target defined maneuver completion location for the vehicle 7110 (e.g., a left-hand parking space or a right-hand parking space when viewing fig. 41(g) and 35 (h)).

Fig. 41i shows the position of the vehicle 7110 according to the embodiment of the present invention after a defined maneuver in another scenario. Here, the void 7172 is smaller than that shown in fig. 37(a), and where adjacent vehicles 7140, 7150 are closer together, making the vehicle envelope 7174 for housing the vehicle 7110 shorter. Therefore, as shown in fig. 41(i), in order to perform the defining manipulation to the defined manipulation completion position having the tolerance range similar to that shown in fig. 41(e), it is necessary to perform the defining manipulation with a larger number of trajectory parts (compared to from fig. 41(a) to fig. 41 (e)). For example, if the number of track portions is determined to be too large (e.g., by the controller 7200 and/or a user), the controller may determine a track to a defined maneuver completion position having a larger tolerance range, e.g., as shown in fig. 41(j), to reduce the number of track portions. For example, the controller may determine that there are nine track portions that arrive at the precise, aligned defined maneuver completion location in FIG. 41(i), which may be considered to be above a threshold for the number and/or time of track portions for completing the performance of the defined maneuver. Accordingly, the controller 7210 may determine a trajectory to a less precise defined manipulation completion position in fig. 41(j) with a larger tolerance range to enable the defined manipulation to be performed at a threshold value (e.g., six portions) or the number of trajectory portions below the threshold value.

Once in the defined maneuver complete position, which is the park position in fig. 41(e), 41(f), 41(g), 41(h), 41(i), and 41(j), the user will typically apply the parking brake to hold the vehicle 7110 stationary.

The controller 7210 can be arranged to allow user adaptation. For example, a user may be able to at least partially overwrite, program, or adjust controller 7210 such that one or more of the following is satisfied: a tolerance range; a threshold for the number of track portions; a spacing or gap threshold from one or more features 7125, 7140, 7150 for defining a manipulation completion position tolerance range, wherein the one or more movable protrusions 7182 are repositionable; parameters for determining tolerance ranges (e.g., type of detected feature, location, user, location of occupant). The controller 7210 may be arranged to be manually overridden, programmed or adjusted, for example, to adjust the output of the steering signal. Additionally or alternatively, the controller 7210 may be arranged to automatically or semi-automatically overwrite, program or adjust the output of the steering signal, such as by learning from user behavior, for example repeated user behavior associated with one or more of: inputting a mode; a geographic location; user identity (e.g., where the vehicle 7110 is not used by multiple users at the same time). For example, the controller 7210 can be arranged to automatically select a default tolerance range and/or a number of trajectories or trajectory parts when the vehicle is positioned at a particular location (e.g., a house or garage) where the user has previously performed a defined maneuver into a known void.

It should be understood that other defined manipulations than those illustrated may be performed. For example, vehicle 7110 may have steerable rear wheels; or the void may comprise a fishbone (diagonal) void 7172 or a vertical void (e.g., where the vehicle 7110 is parked at one end).

As a result of method 7400, the vehicle may be more advantageously positioned or configured after the defined maneuver is performed. It should also be understood that embodiments of the present invention are not limited to use in association with a defined maneuver. Providing and/or displaying a defined maneuver completion location having a tolerance range and/or a trajectory having a number of trajectory parts may be useful even when at least partially parked or driven by a human driver.

Eighth technique

Fig. 43 shows a vehicle 8110 according to an embodiment of the invention in a scene. In fig. 43, a vehicle 8110 is shown having a vehicle forward direction indicated by arrow 8114, which is shown parallel to a central longitudinal axis 8112 of vehicle 8110. In the illustrated scenario, the vehicle 8110 is shown at a defined maneuver start position and a defined maneuver complete position of the vehicle 8110 shown in phantom. In the particular scenario illustrated in fig. 43, it may be desirable to perform a defined maneuver to park the vehicle 8110 in a defined maneuver completion location in the void 8172.

In fig. 43, a vehicle 8110 is shown in phantom at a target or desired defined maneuver completion location in a vehicle envelope 8174 in a slot 8172, wherein a defined maneuver has been performed in which the vehicle performs either a roadside parking defined maneuver or a parallel parking defined maneuver to enter the slot 8172, wherein the vehicle 8110 moves in a number of consecutive trajectory portions in forward and rearward directions 8114 and 8172, respectively. Vehicle 8110 is shown in relation to a feature 8125 in the vicinity of vehicle 8110. In this example, feature 8125 is the following: the object is a wall parallel to the longitudinal axis 8112 of the vehicle 8110, i.e., generally parallel to one side of the vehicle 8110 (e.g., the left side herein), in a defined maneuver completion position. The object is not limited to being a wall 8125 and can be, for example, a bollard, fence, obstruction, or other object at or adjacent to the void 8172. As shown here, other features 8140, 8150 in the form of stationary vehicles define each of the opposing longitudinal ends of the void 8172.

In fig. 43, the dimensions of the vehicle, here shown as width 8194, are such that the vehicle 8110 can be maneuvered into the apparent vehicle envelope 8174 in the void 8172, where the corresponding dimensions of the void vehicle envelope 8174, here shown as width 8176, are sufficiently wider as shown here. Thus, the vehicle 8110 itself fits into the void 8172 and has a clearance such as indicated by the spacing 8192 from the movable projection 8182 of the vehicle to the wall feature 8125. It should be understood that although shown here in plan view, the depicted scene is three-dimensional.

In fig. 43, a vehicle occupant 8195 is shown in an in-vehicle position, which may correspond to a driver's position here. It should be appreciated that in fig. 43, from the defined maneuver completion position shown in phantom, it may be difficult for the occupant 8195 to exit the vehicle 8110, for example, via a door 8188 closest to the occupant 8195 as shown in fig. 43. Similarly, if the occupant 8195 subsequently returns to the vehicle at a later interface after completing a restraint operation (e.g., picking up the vehicle 8110), the occupant 8195 may have difficulty entering or accessing the vehicle 8110 (e.g., where the feature 8125 forms an obstruction relative to opening the vehicle door 8188 adjacent the wall feature 8125).

Embodiments of the present invention aim to ameliorate this problem.

It should be appreciated that in the scenario illustrated in fig. 43, the defined maneuver may be a maneuver of the vehicle 8110, which maneuver of the vehicle 8110 is performed automatically by the vehicle 8110, i.e., under control of one or more systems of the vehicle 8110. The defined maneuver may be considered to be performed automatically or at least semi-autonomously by the vehicle 8110. As shown, in fig. 43, the defined maneuver may be a parking maneuver to control vehicle 8110 to enter a parking space.

As will be further explained, it may be advantageous to perform at least a portion of the maneuvers while a person controlling the vehicle 8110 is outside the vehicle 8110. For example, in fig. 43, access to vehicle 8110 may be restricted after performing the defined maneuver.

To perform the defined maneuver, the vehicle 8110 includes an environment sensing device for determining a location of the feature 8125 proximate the vehicle 8110. The environment sensing means may comprise one or more sensing devices or imaging devices. One or more sensing devices may emit radiation and receive radiation reflected from features in the vicinity of the vehicle, e.g., ultrasonic sensing devices, although it should be understood that the invention is not limited in this respect. Such an environment sensing apparatus has a minimum distance that can determine the accuracy of the location of the feature 8125 due to, for example, the resolution of the imaging device or the signal-to-noise ratio of the sensing device.

In the particular example shown here, the vehicle 8110 includes a portion of an environment sensing device in or on the vehicle movable projection 8182. For example, each side or rear view mirror of vehicle 8110 may have a camera or the like mounted thereto or thereon.

Fig. 44 shows a controller 8200 or a control unit 8200, for example, included in the vehicle 8110 in fig. 43, according to an embodiment of the present invention.

The controller 8200 includes a control device 8210, an input device 8230, and an output device 8240. In some embodiments, the controller includes a memory device 8220, such as one or more memory devices 8220 for storing data therein. The output device 8240 may comprise an electrical output for outputting a steering signal. The steering signal represents an instruction for moving the vehicle 8110. The instructions provided by the maneuver signals are provided to cause the vehicle 8110 to perform the defined maneuver. Here, the controller 8200 may determine one or more of the features 8125, 8140, 8150 such that the defined manipulation is performable in one or more modes. For example, the controller 8200 can determine that all modes of performing defined maneuvers are selectable in the absence of restrictions or impediments to access to or from the vehicle 8110 (e.g., without any lateral features such as the wall feature 8125 shown in fig. 43). As shown herein, the mode for performing the restricted maneuver may be selected 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. Here, the controller 8200 is arranged for a change in the mode change during a defined manipulation without terminating or canceling the defined manipulation. Thus, the defined manipulation may be continued in different execution modes.

The control device 8210 may be formed by one or more electronic processing devices, such as an electronic processor. The processor may be operable to execute computer readable instructions stored in one or more memory devices 8220. As will be explained, the control device 8210 is arranged to control the output device 8240 to output a steering signal in dependence of the ambient signal. In some embodiments, the input device 8230 and the output device 8240 may be combined, for example, by being formed of an I/O unit or an interface unit. For example, the controller 8210 may include an interface to a network forming a communication bus of the 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 device 8230 may comprise an electrical input for receiving an ambient signal. The input device 8230 may comprise an electrical input for receiving a request signal. Here, the request signal indicates a wirelessly received signal representing a user's request for movement of the vehicle 8110.

As shown here, a memory device 8220 may be used to store data from the input device 8230. For example, the memory device may store data about the features 8125, 8140, 8150, or the slot 8172 for future use. For example, where an occupant or user of the vehicle 8110 has actively selected (e.g., by entering one or more parameter inputs) or implicitly shown (e.g., by repeated behavior or usage patterns) at least one preference for a pattern performed for one or more scenarios, the memory device may store data corresponding to the preference to provide a default and/or automatic mode in accordance with inputs (e.g., environmental signals and/or location signals, etc.) indicative of such scenarios or similar scenarios for one or more preferences.

The data may be stored for use during and before performing the defined manipulation. Additionally or alternatively, the data may be stored for use during subsequent qualification manipulations. For example, when data is stored before or during execution of a defined maneuver to the defined maneuver complete position shown in dashed lines in FIG. 43, then the stored data may be used for or during a subsequent defined maneuver, such as a pick-up maneuver from the defined maneuver complete position of FIG. 43. In the case where stored data, e.g., data of features 8125, 8140, 8150, is used to perform at least a portion of the defined manipulation, controller 8200 may perform a check, such as on the validity or continued validity of the data. For example, the controller may validate the data with another input, e.g., with an input from another portion of the environment sensing device (e.g., another sensor or camera located at another portion of the vehicle 8110 that is capable of confirming the continued presence and/or location of one or more features 8125, 8140).

In at least some examples, controller 8210 may include a second input device 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 performing a defined manipulation in the selected mode.

It should be understood that the controller 8200 can be arranged to perform a portion of a defined maneuver in a particular mode. For example, the user may initiate a manipulation to perform a defined manipulation to a defined manipulation completion position after transferring control to the controller 8210, and the execution mode is changeable during a part of performing the defined manipulation.

Figure 45 illustrates a system 8300 according to an embodiment of the invention. The system 8300 includes a controller 8210 described above and shown in fig. 44.

The system 8300 includes an environment sensing device 8330 for determining information about the environment of the vehicle 8110. In particular, an environment sensing device 8330 is provided for determining the location of one or more features in the vicinity of the vehicle 8110. In at least some examples, a portion of the environment sensing device is associated with one or more movable protrusions 8182, e.g., one or more sensors or cameras mounted in or on the vehicle rearview mirror. The environment sensing means 8330 is arranged to output an environment signal indicative of the determined characteristic. The environmental signal may be environmental data, which may be stored in a memory. The environment sensing means may comprise one or more sensing devices, for example imaging devices such as cameras, or other sensing devices such as lidar, radar, ultrasound devices, sonar devices, and the like. The signals output by each of the sensing devices can be used to form a representation of the environment of the vehicle 110, which is stored in memory for use by other systems of the vehicle 8110.

Here, the environment sensing means 8330 is arranged to determine the position of features such as: such as surface markings of painted lines indicating the perimeter of the port or objects such as walls, pillars or other vehicles with respect to which the vehicle is required to maneuver. The control means is arranged to determine from the ambient signal that no features, such as spaces between obstructive features (e.g. adjacent features 8140, 8150 as shown here), are present. Accordingly, the control device is arranged to determine a void 8172 in which no feature, e.g. no obstructive feature, is located. In the event that the void 8172 is sufficiently large, the control device is arranged to determine a vehicle envelope 8174 suitable for accommodating the vehicle 8110 in the defined maneuver completion position. Vehicle envelope 8174 includes a target location adapted to accommodate vehicle 8110 in a defined maneuver completion location. Thus, here, the vehicle envelope 8174 includes the target defined maneuver completion location. In at least this example, vehicle envelope 8174 is determined from one-dimensional characteristics and/or measurements and/or estimations. In particular, here, the vehicle envelope 8174 is determined from the ambient signal indicating a length, e.g. an unobstructed length between the features 8140, 8150. The unobstructed length is long enough for accommodating the vehicle 8110 in the defined maneuver completion location, where the length is the spacing between the features 8140, 8150 that is greater than the vehicle length in the defined maneuver completion location. The defined maneuver may include, for example, parking in a parking position.

Here, the controller 8210 of the system 8300 includes a defined manipulator. The control device is arranged to control the vehicle 8110 to perform at least one defined maneuver. The controller 8210 may include a defined maneuver controller for controlling one or more systems of the vehicle 8110 to perform one or more defined maneuvers. The limit maneuvering device may be associated with one or more actuators 8350 of the vehicle 8110. One or more actuators 8350 are provided to effect movement of the vehicle 8110. The actuators may comprise one or more of a power steering mechanism arranged to provide steering of the wheels of the vehicle 8110 in dependence on signals received from the controller 8210. The second actuator may comprise a dynamic braking mechanism of the vehicle 8110 arranged to actuate a brake of the vehicle in dependence of a signal received from the controller 8210. The third actuator comprises a powertrain of the vehicle. A controller 8210 is arranged to control steering of the vehicle wheel 8180 relative to the feature 8125. The fourth actuator 8350 includes one or more mechanisms for changing the position of the one or more movable projections 8182.

The system 8300 shown here includes a motion control device 8320. The motion control device 8320 may be a motion control unit. The motion control device 8320 is arranged to receive the manipulation signal output by the controller 8210. The motion control device 8320 is associated with one or more motion units of the vehicle 8110, which may form part of a powertrain (not shown) of the vehicle 8110. The motion unit may comprise one or more of the following: an internal combustion engine and one or more electric machines of vehicle 8110. The powertrain is arranged to provide power or torque to cause movement of the vehicle 8110 along a longitudinal axis, i.e., forward or reverse movement of the vehicle 8100, in accordance with steering signals received from the controller 8210. The motion control device 8320 is arranged to control application of torque to one or more wheels of the vehicle 8110 to move the vehicle 8110 along a longitudinal axis of the vehicle, even if the vehicle is moving generally forward or backward. The torque may include a driving torque, i.e., a torque applied in a direction of desired movement, such as forward. The torque may also include a braking torque, i.e., a torque applied to resist the driving torque. In at least some embodiments, both the drive torque and the brake torque may be applied simultaneously to provide low speed movement of the vehicle 8110. Braking torque may also be applied at least partially after the driving torque to achieve accurate movement of the vehicle 8110. To enable control of steering, controller 8210 may be in communication with motion control device 8320. Thus, the one or more actuators 8350 may control the direction and movement of the vehicle to perform defined maneuvers. The defined manipulation is performed in accordance with the environmental signal provided by the environmental sensing device 8330.

The one or more defined maneuvers that may be performed by the vehicle 8110 under the control of the controller 8210 may include a parking maneuver as shown in fig. 43, wherein the vehicle 8110 is controlled to reach a parking location.

As shown here, the system 8300 includes a receiver device 8310 for receiving the signal 8305. The signal 8305 may be wirelessly received from a mobile device 390 associated with a person responsible for the vehicle 8110. As described above, signal 8305 indicates a user request for vehicle movement of vehicle 8110. The receiver device 8310 is arranged to output a request signal to an input device 8230 of the controller 8210 as described above. The request signal may be output by the receiver device 8310 onto a communication bus of the vehicle 8110, which may communicatively couple components of the system 8300.

The receiver device 8310 may be in the form of a radio unit 8310. The radio unit 8310 may include a receiver for receiving radio signals 8305 from the mobile device 8390. In some implementations, the radio unit 8310 may also include a transmitter, or may be a transceiver 8310 configured to receive radio signals 8305 transmitted from the mobile device 8390 and transmit the signals to the mobile device 8390. The radio 8103 and the mobile device 8390 may be arranged to provide a wireless local area network via which bi-directional communication may occur between the radio 8103 and the mobile device 8390. For example, radio 8103 may be arranged to communicate with mobile device 8390 via wifi (rtm). In alternative embodiments, other radio communication standards may be used for communication. In one example, communication between the radio 8103 and the mobile device 8390 is provided via bluetooth (RTM), although other protocols or standards are contemplated.

The mobile device 8390 may be an electronic key fob associated with the vehicle 8110, for example, the mobile device 8390 may be used to gain access to the vehicle 8110 and activate the vehicle 8110 or power the vehicle 8110. In other implementations, the mobile device 8390 may be an electronic device associated with the person responsible for the vehicle 8100, such as a mobile phone, a tablet, a watch, a wearable electronic device, or other computing device associated with the person. The mobile device 8390 can receive user input indicating that the person desires to move the vehicle 8110. The user input may be provided in the form of buttons or keys, activation of graphical display icons, gestures, or voice commands. Other forms of user input are also contemplated.

Fig. 46 illustrates a method 8400 according to an embodiment of the invention. Method 8400 is a method of controlling movement of vehicle 8110. The method 8400 may be formed by the controller 8210 and the system 8300 described above with reference to fig. 44 and 45. The method 8400 will be described with reference to fig. 47(a) to 47(d) corresponding to the scene shown in fig. 43 as an example.

Method 8400 generally includes the following steps: providing 8410 for performing at least one mode of the defined manipulation; executing 8420 a portion of the defined maneuver in the first mode; changing 8430 the mode of execution into a second execution mode; and completing 8440 the defined maneuver.

Referring to fig. 46, the illustrated embodiment of method 8400 includes the following steps: 8410 is provided for executing at least one mode of the defined manipulation. The controller 8210 determines which mode or modes are suitable for performing the defined manipulation, and the controller 8210 provides at least one mode, optionally, a selection of the mode from a plurality of modes. For example, the controller determines which modes are suitable or most suitable for performing the defined maneuver based on the environmental signals and/or the position of the occupant. Whether an automatically selected default mode or a user selected mode is used, execution of the defined manipulation is initiated to execute 8420 a portion of the defined manipulation. During execution of the defined manipulation, the mode of execution is changed from the first mode. For example, in the case where the occupant switches between the in-vehicle position and the out-vehicle position, the mode is switched between the respective modes. It should be understood from the dashed line 8435 of fig. 46 that during execution of the defined manipulation, the mode may be changed more than once to execute a plurality of portions of the defined manipulation, each having a different mode.

In fig. 47(a) to 47(d), respectively, the vehicle 8110 is shown from the start position of fig. 43 to the limited manipulation completion position of fig. 47(d) during execution of the limited manipulation. Fig. 47(a) to 47(d) sequentially show a vehicle that performs a limited maneuver according to an embodiment of the present invention. Fig. 47(a) shows the vehicle 8110 during a first portion of a defined maneuver, the vehicle 8110 executing a first trajectory portion of the defined maneuver, wherein the vehicle 8110 moves in a direction opposite to the heading direction 8114 of the vehicle 8110, and back toward the void 8172. Here, the restricted maneuver has been initiated in a first mode, an in-vehicle mode in which the occupant 8195 is located in the vehicle 8110. Fig. 47(b) shows a position of the vehicle 8110 similar to fig. 47(a), in which the occupant 8195 has transitioned to an off-vehicle position. Here, the controller 8200 has automatically changed the mode of execution to the occupant outside-vehicle mode. Subsequently, the vehicle 8110 continues to perform the restricted manipulation to the position in fig. 47(c) and the restricted manipulation completion position in fig. 47(d) in the second execution mode, which is the occupant outside-vehicle mode.

The controller 8200 may be arranged to provide and/or select different execution modes depending on characteristics of an environmental signal, such as the null 8172. For example, the controller 8200 can be arranged to provide and/or select one or more execution modes depending on the size of the void 8172, the alignment of adjacent objects 8140, 8150, or other parameters associated with the void. In at least some examples, one or more available execution modes may be restricted (e.g., restricted by a void 8172 that includes dimensions that are not suitable for ingress/egress to one or more vehicle openings). Additionally or alternatively, the controller 8200 may be arranged to provide and/or select one or more execution modes in dependence on other parameters, such as one or more of the following: ambient environmental conditions (e.g., rain, temperature, brightness, darkness, time of day, day of week, etc.); terrain conditions (e.g., road surface conditions, off-road surface conditions, grade, etc.); one or more locations of a plurality of vehicle occupants, such as the location of each vehicle occupant.

Once in the defined maneuver complete position, which is the park position in fig. 47(d), the user 8195 will typically apply the parking brake to hold the vehicle 8110 stationary with the engine off.

The controller 8210 may be arranged to allow user adaptation. For example, a user may be able to at least partially overwrite, program, or adjust controller 8210 for one or more of: one or more available modes; one or more inputs for determining available modes; selection means for selecting a mode. The controller 8210 may be arranged to be manually overwritten, programmed or adjusted, for example to adjust the output of the steering signals. Additionally or alternatively, the controller 8210 may be arranged to automatically or semi-automatically overwrite, program or adjust the output of the steering signal, such as by learning from user behavior, for example repetitive user behavior associated with one or more of: inputting a mode; a geographic location; user identity (e.g., where the vehicle 8110 is not used by multiple users at the same time). For example, the controller 8210 may be arranged to automatically select the default mode when the occupant 8195 is located at a particular location (e.g., relative to the vehicle 8110) or when the vehicle 8110 is positioned at a particular location (e.g., a house or garage) where the user has previously performed a defined maneuver into a known void.

It should be understood that other defined manipulations than those illustrated may be performed. For example, the restricted maneuver may include a pickup maneuver from the position in fig. 47(d), e.g., where the occupant 8195 is outside the vehicle 8110, and the occupant 8195 initiates the restricted maneuver in the occupant outside vehicle mode, enters the vehicle 8110 in a temporary turn to perform the restricted maneuver, and continues to perform the restricted maneuver in the occupant inside vehicle mode. It should be understood that the controller 8200 may be arranged to enable an occupant to transition between an in-vehicle position and an out-of-vehicle position during performance of a defined maneuver. For example, the controller 8200 may be arranged such that a defined maneuver can be interrupted or paused, e.g., to enable the occupant 8195 to transition into or out of the vehicle 8110 while the vehicle 8110 is stationary. In at least some examples, vehicle 8110 may have steerable rear wheels; or the void may comprise a fishbone (diagonal) void 8172 or a vertical void (e.g., where the vehicle 8110 rests on one end).

As a result of method 8400, the vehicle may be more advantageously positioned or configured after the defined maneuver is performed. It should also be understood that embodiments of the present invention are not limited to use in association with a defined maneuver. Providing a selectable mode for performing a portion of the defined maneuver may be useful even when parked or driven by a human driver. For example, indicating or showing which execution modes are available or applicable may help a user to select execution of a user-performed manipulation.

Ninth technique

Fig. 49a and 49b show a vehicle 9110 according to an embodiment of the invention in two example scenarios. In fig. 49a and 49b, the vehicle 9110 is shown having a vehicle forward direction indicated by arrow 9114, which is shown parallel to a central longitudinal axis 9112 of the vehicle 9110. In the illustrated scenario, vehicle 9110 is shown in a position from a previous maneuver (control or user control). In fig. 49a, a vehicle 9110 is shown in a parked position, where the user may be about to attempt or is attempting to exit the vacant location 9172 with a pick maneuver. In the particular scenario illustrated in fig. 49a, it may be desirable to perform a defined maneuver to drive vehicle 9110 out of void 9172 to a defined maneuver completion location. In fig. 49b, vehicle 9110 is shown in a position from a previous maneuver (control or user control), where the user may wish to attempt or be attempting to enter void 9172 with a parking maneuver. In the particular scenario illustrated in fig. 49b, it may be desirable to perform a defined maneuver to park the vehicle 9110 into a defined maneuver complete position within the vacant space 9172. In each of the scenarios shown in fig. 49a and 49b, the user may not know the possibility to perform a defined manipulation. It may be difficult or undesirable for the user to perform user-controlled manipulations from the positions shown in fig. 49a and 49 b. Similarly, the user may not wish to reposition the vehicle to a predetermined or prescribed defined maneuver start position to perform the defined maneuver.

Embodiments of the present invention aim to ameliorate this problem.

It will be appreciated that in the scenario illustrated in fig. 49a and 49b, the illustrated vehicle position may correspond to a defined maneuver start position. One or more defined maneuver start positions may not be specified (e.g., the user may not be required to position the vehicle at a particular predetermined position relative to the void 9172). The defined maneuver performed from the positions of fig. 49a and 49b may be a maneuver of vehicle 9110 performed automatically by vehicle 9110, i.e., under control of one or more systems of vehicle 9110. This defined maneuver may be considered to be performed automatically, or at least semi-autonomously, by vehicle 9110. As shown, in fig. 49a, the defined maneuver may be a pickup maneuver for controlling vehicle 9110 to exit the park position. As shown, in fig. 49b, the defined maneuver may be a park maneuver for controlling the vehicle 9110 to move into a park position.

As will be further explained, it may be advantageous to perform at least a portion of the defined maneuver while a person controlling vehicle 9110 is external to vehicle 9110. For example, in fig. 49b, egress from vehicle 9110 may be limited after performing, or at least completing, a qualifying maneuver.

To perform the defined maneuver, the vehicle 9110 includes an environment sensing arrangement for determining the location of the features 9125, 9140, 9150 in the vicinity of the vehicle 9110. The environment sensing device may include one or more sensing devices or imaging devices. Although one or more sensing devices, such as ultrasonic sensing devices, may emit radiation and receive radiation reflected from features in the vicinity of the vehicle, it will be understood that the invention is not limited in this respect. Such an environmental sensing device has a minimum distance at which the exact location of the feature 9125 can be determined due to, for example, the resolution of the imaging device or the signal-to-noise ratio of the sensing device.

In the particular example shown here, the vehicle 9110 includes a portion of an environmental sensing device in or on the vehicle movable protrusion 9182. For example, each side or rear view mirror of vehicle 9110 may have an image pickup device or the like mounted thereto or mounted thereon.

Fig. 50 shows controller 9200 or control unit 9200 in vehicle 9110 as included in fig. 49(a) and 49(b), for example, according to an embodiment of the present invention.

The controller 9200 includes a control device 9210, an input device 9230, and an output device 9240. Here, the output means 9240 includes a notification means and an output means for outputting a manipulation signal.

The input device of the controller 9200 is arranged to receive an input signal from at least one of a plurality of input sources.

The control means 9210 is arranged to control the notification means to output a notification signal indicating the determination of the defined manipulation opportunity by the control means 9210 in dependence on the input signal. The input signal comprises at least one of: an environmental signal indicative of a location of at least one feature in proximity to the vehicle; a motion signal indicative of motion of the vehicle; a steering signal indicative of a steering input; an event signal indicative of a vehicle event; and a position signal indicative of a position of the vehicle.

Here, the input device 9230 is configured to receive at least an environmental signal indicative of the features 9125, 9140, 9150 in proximity to the vehicle 9110. The controller 9200 also includes a request input device for receiving a request signal indicating a user request.

The control means 9210 is arranged to control the output means 9240 to cause the vehicle 9110 to perform at least a part of the defined manoeuvre in dependence of the ambient signal.

In some embodiments, the controller includes a storage device 9220, such as one or more storage devices 9220 for storing data therein. The output device 9240 may include an electrical output for outputting the steering signal. The steering signal represents an instruction for movement of the vehicle 9110. The instructions provided by the maneuver signals are provided to cause the vehicle 9110 to perform defined maneuvers.

The control device 9210 may be formed by one or more electronic processing devices, such as an electronic processor. The processor may be operable to execute computer readable instructions stored in the one or more storage devices 9220. As will be explained, the control means 9210 is arranged to control the output means 9240 to output a manipulation signal in accordance with the environment signal. In some embodiments, the input device 9230 and the output device 9240 may be combined, for example, by being formed from I/O cells or interface cells. For example, the controller 9210 may include an interface to a network for forming a communication bus of the 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 device 9230 may include an electrical input for receiving an ambient signal. The input device 9230 may include an electrical input for receiving a request signal. Here, the request signal indicates a signal received in a wired manner or a wireless manner, which represents a user request for movement of the vehicle 9110.

As shown here, the storage device 9220 can be used to store data from the input device 9230. For example, the storage device can store data about the features 9125, 9140, 9150, or the slots 9172 for future use. For example, where an occupant or user of vehicle 9110 has actively selected (e.g., by entering one or more parameter inputs) or implicitly shown (e.g., by repeated behavior or usage patterns) at least one preference to perform a defined maneuver for one or more scenarios, the storage device may store data corresponding to the preference to provide default and/or automatic parameters of the defined maneuver in accordance with inputs (e.g., environmental signals and/or location signals, etc.) indicative of such scenarios or similar scenarios for the one or more preferences. For example, when the user repeatedly performs a user-initiated manipulation to a user-initiated manipulation end position before performing a defined manipulation from the user-initiated manipulation end position in a particular scenario, the control means may be arranged to pre-inform the user of the possibility of performing the defined manipulation and/or to inform the user of the possibility of performing the defined manipulation during the user-initiated manipulation and/or upon completion of the user-initiated manipulation. Alternatively, the control means may be arranged to suppress notification of a possible defined maneuver-for example, where the user may appear to be inclined to initiate the defined maneuver only from the user-initiated maneuver end position, rather than at a position preceding it, then notification of the likelihood of the defined maneuver may be suppressed, for example, until the vehicle is at or near the user-initiated maneuver end position.

The data may be stored for use during and before performing the defined manipulations. Additionally or alternatively, the data may be stored for use during subsequent qualification manipulations. For example, where data is stored before or during a maneuver performed to reach the position in fig. 49a or 49b or the defined maneuver complete position in either of fig. 53a or 53b, then the stored data may be used for or during a subsequent defined maneuver, such as a pick-up maneuver from the defined maneuver complete position in fig. 53 b. Where the stored data, such as features 9125, 9140, 9150, is used to perform at least a portion of a defined manipulation, the controller 9200 can perform checks, such as on the validity or continued validity of the data. For example, the controller 9200 can validate the data with another input, such as with a later input from an environment sensing device, or an input from another portion of the environment sensing device (e.g., another sensor or camera located in another portion of the vehicle 9110 that can confirm the persistent presence and/or location of one or more features 9125, 9140).

In at least some examples, as here, the controller 9210 includes a second input device 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 performing a defined manipulation to a target defined manipulation completion location.

It will be understood that the controller 9200 can be arranged to perform a portion of the defined manipulation in a particular mode. For example, a user may initiate a maneuver to perform a first portion of the maneuver by controlling in a first mode, after which the control is in a different mode, wherein the execution mode is variable during a portion of the execution of the defined maneuver (e.g., between an occupant in-vehicle mode and an occupant out-of-vehicle mode).

Fig. 51 shows a system 9300 according to an embodiment of the invention. The system 9300 includes the controller 9210 described above and shown in fig. 50.

The system 9300 here comprises notification means for notifying the user of the defined manipulation opportunity. System 9300 includes an environment sensing device 9330 for determining information about the environment of vehicle 9110. In particular, environment sensing device 9330 is configured to determine the location of one or more features in the vicinity of vehicle 9110. In at least some examples, a portion of the environment sensing device is in communication with one or more movable protrusions 9182, such as at least one sensor or camera mounted in or on a vehicle rear view mirror. An environment sensing means 9330 is arranged to output an environment signal indicative of the determined characteristic. The environmental signal may be environmental data that may be stored in a memory. The environment sensing means may comprise one or more sensing means, for example imaging means such as camera means, or other sensing means such as lidar, radar, ultrasound, sonar means and the like. The signals output by each sensing device can be used to form a representation of the environment of the vehicle 9110, which is stored in memory for use by other systems of the vehicle 9110.

Here, the environment sensing device 9330 is arranged to determine the location of features such as: surface markings, which may be, for example, painted lines representing the perimeter of a parking port; or objects such as walls, pillars, or other vehicles with respect to which the vehicle needs to be maneuvered. The control means is arranged to determine the absence of a feature, e.g. an obstructive feature, such as a spacing between adjacent features 9140, 9150, from the ambient signal. Thus, the control means is arranged to determine a void 9172 in which there is no feature, e.g. no obstructive feature. In the event that the void 9172 is sufficiently large, the control arrangement is arranged to determine a vehicle envelope suitable for accommodating the vehicle 9110 in the defined maneuver completion position. The vehicle envelope includes a target position adapted to accommodate vehicle 9110 in a defined maneuver completion position. Thus, the vehicle envelope here includes the target-defined maneuver completion location. In at least this example, the vehicle envelope is determined from one-dimensional characteristics and/or measurements and/or estimates. In particular, here, the vehicle envelope is determined from an ambient signal indicative of a length, e.g., an unobstructed length between the features 9140, 9150. The unobstructed length is long enough to accommodate the vehicle 9110 in the defined maneuver complete position, where the length is here the spacing between the features 9140, 9150 that is greater than the vehicle length in the defined maneuver complete position. The defined maneuver may include, for example, parking to a parking location.

Controller 9210 of system 9300 herein includes a defined operator. The control device is arranged to control the vehicle 9110 to perform at least one defined maneuver. Controller 9210 may include a defined maneuver controller for controlling one or more systems of vehicle 9110 to perform one or more defined maneuvers. The defined steering device may be associated with one or more actuators 9350 of the vehicle 9110. One or more actuators 9350 are provided to effect movement of the vehicle 9110. The actuators may include one or more power steering mechanisms arranged to provide steering of the wheels of vehicle 9110 in accordance with signals received from controller 9210. The second actuator may comprise a dynamic braking mechanism of vehicle 9110 arranged to actuate brakes of the vehicle in accordance with signals received from controller 9210. The third actuator comprises a powertrain of the vehicle. Controller 9210 is arranged to control steering of vehicle wheels 9180 relative to features 9125. The fourth actuator 9350 includes one or more mechanisms for changing the position of one or more movable projections 9182.

The system 9300 shown here comprises a motion control device 9320. The motion control means 9320 may be a motion control unit. The motion control device 9320 is arranged to receive manipulation signals output by the controller 9210. Motion control device 9320 is associated with one or more motion units of vehicle 9110, which may form part of a powertrain (not shown) of vehicle 9110. The motion unit may include one or more of an internal combustion engine and one or more electric machines of the vehicle 9110. The powertrain is arranged to provide power or torque to cause movement along the longitudinal axis of vehicle 9110, i.e., forward or reverse movement of vehicle 9100, in accordance with steering signals received from controller 9210. The motion control device 9320 is arranged to control the application of torque to one or more wheels of the vehicle 9110 to move the vehicle 9110 along a longitudinal axis of the vehicle, i.e. to move the vehicle generally forward or backward. The torque may comprise a driving torque, i.e. a driving torque applied in a desired direction of movement, e.g. a forward direction of movement. The torque may also include a braking torque, i.e., a braking torque applied to resist the driving torque. In at least some embodiments, both drive torque and brake torque can be applied simultaneously to provide low speed movement of vehicle 9110. Brake torque may also be applied at least partially after drive torque to achieve precise movement of vehicle 9110. To effect control of steering, controller 9210 may communicate with motion control 9320. Thus, one or more actuators 9350 may control the direction and movement of the vehicle to perform defined maneuvers. The defined manipulation is performed according to an environment signal provided by environment sensing device 9330.

The one or more defined maneuvers that vehicle 9110 may perform under the control of controller 9210 may include a parking maneuver such as that shown in fig. 53b, where vehicle 9110 is controlled to reach a parked position.

As shown therein, the system 9300 comprises a receiver apparatus 9310 for receiving a signal 9305. Signal 9305 can be received wirelessly from a mobile device 9390 associated with a person responsible for vehicle 9110. Signal 9305 indicates a user request for vehicle movement of vehicle 9110, as described above. The receiver device 9310 is arranged to output a request signal to the input device 9230 of the controller 9210 as described above. The request signal may be output by the receiver device 9310 onto a communication bus of the vehicle 9110, which may communicatively couple components of the system 9300.

The receiver device 9310 may be in the form of a radio unit 9310. The radio unit 9310 may comprise a receiver for receiving radio signals 9305 from the mobile device 9390. In some embodiments, the radio unit 9310 may also include a transmitter, or may be a transceiver 9310 configured to receive radio signals 9305 transmitted from the mobile device 9390 and to transmit signals to the mobile device 9390. The radio unit 9103 and the mobile device 9390 may be arranged to provide a wireless local area network via which bi-directional communication may occur between the radio unit 9103 and the mobile device 9390. For example, the radio unit 9103 may be arranged to communicate with the mobile device 9390 over wifi (rtm). In alternative embodiments, other radio communication standards may be used for communication. Although in one example communication is provided between the radio unit 9103 and the mobile device 9390 via bluetooth (RTM), other protocols or standards are contemplated.

Mobile device 9390 can be an electronic key fob associated with vehicle 9110, such as can be used to enter vehicle 9110 and activate vehicle 9110 or power up vehicle 9110. In other implementations, mobile device 9390 can be an electronic device associated with a person responsible for vehicle 9100, such as a mobile phone, tablet, watch, wearable electronic device, or other computing device associated with the person. Mobile device 9390 can receive user input indicating that the person wishes to move vehicle 9110. User input may be provided in the form of button or key presses, activation of graphically displayed icons, gestures, or voice commands. Other forms of user input are also contemplated.

Fig. 52 illustrates a method 9400 according to an embodiment of the invention. Method 9400 is a method of controlling movement of vehicle 9110. The method 9400 can be formed by the controller 9210 and the system 9300 described above with reference to fig. 50 and 51. The method 9400 will be described with reference to fig. 53a and 53b, which correspond to the scenes shown in fig. 49a and 49b, respectively, as an example.

Method 9400 broadly includes the following steps: receiving 9410 an input signal and determining 9415 from the input signal to define a maneuver opportunity; and notify 9425 the user of the opportunity. Thereafter, the user may choose to request that a defined manipulation be performed. Upon receiving 9420 the user request, the control device 9220 controls the manipulation output device 9240 to move the vehicle 9110 to the defined manipulation completion position. In the example shown in fig. 53a, after the defining manipulation 9440 is completed, normal driving may be performed. For example, the user may perform manually-controlled driving to cause vehicle 9110 to completely drive out of the scene in fig. 53 a.

Referring to fig. 52, the illustrated embodiment of method 9400 includes the following steps: an input signal is received 9410 from an input device, such as environment sensing device 9330. For example, the input signal may be indicative of a characteristic 9125, 9140, 9150 in the vicinity of the vehicle 9110. The controller 9210 determines 9415 whether the environmental signal indicates one or more characteristics 9125, 9140, 9150 in the vicinity of the vehicle 9110, corresponding to whether the vehicle 9110 may perform a defined maneuver. Thus, vehicle 9110 can be moved out of the void 9172 in fig. 49a and 53 a. In at least some examples, the defined manipulation opportunity is automatically notified 9425 to the user, thereby explicitly alerting the user to the availability of the defined manipulation opportunity without any request or indication from the user to seek such opportunity. Here, the control device 9410 is arranged to control the notification output device to output the notification signal independently of a user request to manipulate the output device 9440 to be controlled by the control device 9410. In at least some examples, the controller 9200 is configured to automatically output a notification signal without activation of the control device 9210 by a vehicle user. In at least some scenarios, the user may not otherwise be aware of the likelihood of performing a defined manipulation, such that allowing the notification signal to be output independently of the user request may allow the user to be provided with more or more useful possibilities of a defined manipulation (e.g., as compared to a defined manipulation that is only explicitly sought in advance by the user).

FIG. 53a shows vehicle 9110 after a pick-up limit maneuver from the position in FIG. 49a, which is shown in FIG. 1a in phantom in FIG. 5 a. The vehicle 9110 is shown as having moved in a reverse direction opposite the forward longitudinal direction 9114, and also in the forward direction 9114, wherein controlled operation of the steerable wheels 9180 ramps the vehicle 9110 to perform a sequential trajectory portion (not shown) of a pick-up limit maneuver from the position in fig. 49a to the limit maneuver completion position in fig. 53 a. It will be appreciated that although not shown here, in at least some examples, the vehicle may include steerable rear wheels.

In fig. 53a, a vehicle 9110 is shown outside of the vacancy 9172 at a defined maneuver completion location, in which case a defined maneuver would be performed in which the vehicle performs a pick-up defined maneuver to exit the vacancy 9172 with a plurality of trajectory portions performing the defined maneuver. The vehicle 9110 is shown relative to a feature 9125 near the vehicle 9110. In this example, the feature 9125 is an object that is a wall parallel to the longitudinal axis 9112 of the void 9172. The object is not limited to the wall 9125 and can be, for example, a bollard, fence, obstruction, or other object at or adjacent the void 9172, e.g., to form a boundary thereof. As shown in fig. 49a and 53a, another feature 9140 in the form of a stationary vehicle is located at one end of the void 9172 toward the rear of the vehicle 9110 as shown in fig. 49 a. As shown in fig. 49a and 53a, another stationary vehicle 9150 is located at the opposite end of the void, in front of vehicle 9110 in the position shown in fig. 49 a.

It will be appreciated that in at least some such scenarios, multiple trajectory portions may be required to iteratively translate vehicle 9110 out of empty position 9172. It will be understood that although shown here in plan view, the depicted scene is three-dimensional.

As can be seen in fig. 53a, a vehicle 9110 in a defined maneuver completion position (on the right, outside of the void 9172 as shown in fig. 53 a) is positioned adjacent the front-most stationary vehicle 9150 with a gap therebetween. From the defined steering complete position of fig. 53a, the vehicle 9110 may be driven normally, for example, manually. It will be appreciated that the particular scenario of fig. 53a may correspond to a scenario in which vehicle 9110 in a defined maneuver completion position is properly positioned to normally exit, such as a vehicle direction or flow. For example, the vehicle 9110 may be positioned on a roadway (e.g., in the uk) where the vehicle is traveling on the left-hand side of the roadway, such that in the particular scenario shown in fig. 53a, the vehicle 9110 is not directly against oncoming traffic. After the defined maneuver is completed, the user may control or control vehicle 9110 from the defined maneuver completion location.

FIG. 53b shows vehicle 9110 after a park-defining maneuver from the position in FIG. 49b, which is shown in FIG. 1b in phantom in FIG. 5 b. In fig. 5b, vehicle 9110 is shown in a defined maneuver completion position within void 9172, in which case a defined maneuver would be performed in which the vehicle performs a parking defined maneuver to enter void 9172. The vehicle 9110 is shown relative to a feature 9125 near the vehicle 9110. It will be appreciated that in at least some such scenarios, multiple trajectory portions may be required to iteratively transfer vehicle 9110 to a defined maneuver completion location in void 9172. It will also be appreciated that the defined manipulations performed may include correcting or undoing at least some of the user-initiated manipulations. For example, performing a defined maneuver from the position in fig. 49b to the position in fig. 5b may include positioning vehicle 9110 next to the front-most vehicle 150 before entering void 9172 (e.g., positioning vehicle 9110 at a defined maneuver intermediate position corresponding to the defined maneuver complete position in fig. 53 a).

Thus, the vehicle 9110 has moved from the position in fig. 49a and 49b to the limited manipulation completion position in fig. 53a and 53b, respectively, by the limited manipulation.

In at least some examples, the user may request a defined manipulation execution by explicit selection or by performing one or more predetermined actions, for example selected from one or more of: touching the steering wheel or placing a hand on the steering wheel; the accelerator control is activated (e.g., the pedal is depressed).

The controller 9200 can be arranged to notify and/or define a trajectory for performing a defined manipulation in accordance with an environment signal, e.g., the slots 9172 and/or characteristics of the features 9125, 9140, 9150. For example, the controller 9200 can be arranged to notify and/or define a trajectory based on the size of the void 9172, the positioning or proximity of the proximate objects 9140, 9150, or other parameters associated with the void 9172. Additionally or alternatively, the controller 9200 may be arranged to notify and/or define the trajectory in accordance with other parameters, such as one or more of the following: ambient environmental conditions (e.g., rain, temperature, light, darkness, time of day, day of week, etc.); terrain conditions (e.g., road surface conditions, off-road surface conditions, grade, etc.); one or more locations of a plurality of vehicle occupants, such as the location of each vehicle occupant.

The controller 9210 may be arranged to allow user adaptation. For example, the user may be able to at least partially override, program, or adjust the controller 9210 for one or more of the following: defining parameters of the maneuver; scenarios in which manipulations or at least notifications thereof are suppressed are defined; one or more available modes; one or more inputs for determining an available mode; selection means for selecting a mode. The controller 9210 may be arranged to be manually overridden, programmed, or adjusted, for example, to adjust the output of the steering signals and/or notification signals. Additionally or alternatively, the controller 9210 may be arranged to automatically or semi-automatically override, program, or adjust the output of the steering signals and/or notification signals, such as by learning from user behavior, such as repetitive user behavior, associated with one or more of an input pattern, a geographic location, a user identity (e.g., where multiple users do not use the vehicle 9110 at the same time). For example, the controller 9210 may be arranged to automatically select a default mode or parameter when the occupant 9195 is located at a particular location (e.g., relative to the vehicle 9110), or when the vehicle 9110 is located at a particular location, such as a home or garage, where the user has previously performed a defined maneuver to exit from a known vacancy.

It will be appreciated that other defined manipulations than those illustrated may be performed. For example, the defined maneuver may include a pickup maneuver from a vertical parking lot space (in contrast to the parallel, roadside pickup maneuver shown). It will be appreciated that the controller 9200 may be arranged to allow the occupant to move between an in-vehicle position and an out-of-vehicle position during performance of the defined maneuver. For example, the controller 9200 may be arranged to allow for a defined interruption or suspension of maneuvering, e.g., to allow the occupant 9195 to move into the vehicle 9110 or out of the vehicle 9110 while the vehicle 9110 is stationary. In at least some examples, vehicle 9110 may have steerable rear wheels; or the void may comprise a fishbone (diagonal) void 9172 or a vertical void (e.g., where the vehicle 9110 is parked at one end).

As a result of method 9400, the vehicle may be more advantageously positioned or configured after the defined maneuver is performed. It will also be appreciated that embodiments of the invention are not limited to the usefulness associated with defining manipulations. It may also be useful to inform the user of the possibility of a defined manipulation, even though the user may not require or wish to perform a defined manipulation. For example, notifying the user of such a likelihood can alert the user of the likelihood of performing a user-initiated manipulation along a trajectory similar to the indicated possible defined manipulations (e.g., can park into a slot 9172 shown in fig. 49 b).

Tenth technique

Fig. 55a and 55b show a vehicle 10110 according to an embodiment of the invention in two scenarios. In fig. 55a and 55b, the vehicle 10110 is shown with a vehicle forward direction indicated by arrow 10114, which is shown parallel to a central longitudinal axis 10112 of the vehicle 10110. In the illustrated scenario, the vehicle 10110 is shown in a defined maneuver start position and a defined maneuver complete position of the vehicle 10110 shown in phantom. In the specific scenario shown in fig. 55a and 55b, it may be desirable to perform a defined maneuver to park the vehicle 10110 in the vacant location 10172 at a defined maneuver completion location.

In fig. 55a and 55b, the vehicle 10110 is shown in phantom at a target or desired defined maneuver completion location within the vehicle envelope 10174 in the void 10172, in which case a defined maneuver would be performed in which the vehicle performs a defined maneuver in parking to enter the void 10172 with the vehicle 10110 moving in the forward direction 10114 as shown herein. The vehicle 10110 is shown with respect to a feature 10125 in the vicinity of the vehicle 10110. In this example, the feature 10125 is an object in a defined maneuver completion location that is a wall parallel to the longitudinal axis 10112 of the vehicle 10110, i.e., substantially parallel to one side of the vehicle 10110 (e.g., the left side herein). The object is not limited to a wall 10125 and can be, for example, a bollard, fence, obstruction, or other object at or adjacent the void 10172, e.g., to form a boundary thereof. As shown in fig. 55a, another feature 10140 in the form of a stationary vehicle defines a lateral side of the void 10172 opposite the wall feature 10125. As shown in fig. 55b, by way of example, the wall features 10125 extend to provide boundaries of the void 10172 on each of the opposing lateral sides of the void 10172 as may be found, for example, in a garage. It will be understood that in each scenario, although not shown, the void 10172 may present additional boundaries or restrictions, such as an end boundary (e.g., a portion of the wall feature 10125 defining an end garage wall).

In fig. 55a and 55b, the dimensions of the vehicle 10110, such as the width 10194 shown herein, are such that the vehicle 10110 can be maneuvered into the apparent vehicle envelope 10174 in the void 10172, wherein the corresponding dimensions of the vehicle envelope 10174 of the void, shown here as the width 176, are shown here as being sufficiently wide. Thus, the vehicle 10110 itself can be placed into the void 10172 with a clearance, for example, as indicated by the spacing 192 from the movable projection 10182 of the vehicle to the wall feature 10125. It will be understood that although shown here in plan view, the depicted scene is three-dimensional.

As can be seen in both fig. 55a and 55b, the vehicle 10110 in the defined maneuver completion position (on the right, occupying the void 10172 as shown in both figures) is centrally located with the central longitudinal axis 10112 of the vehicle 10110 collinear with the central longitudinal axis 10197 of the void 10172. Thus, the vehicle 10110 defining the maneuver completion location is equidistant from the features 10125, 10140 of each lateral side in the respective scenario, which is represented by the spacing 192 of the closed configuration vehicles defining the maneuver completion location being the same on each side.

Embodiments of the present invention aim to ameliorate this problem.

It will be understood that in the scenarios shown in fig. 55a and 55b, the defined maneuver may be a maneuver of the vehicle 10110 performed automatically by the vehicle 10110, i.e., under control of one or more systems of the vehicle 10110. This defined maneuver may be considered to be performed automatically, or at least semi-autonomously, by the vehicle 10110. As shown, in fig. 55a and 55b, the restricting manipulation may be a parking manipulation for controlling the vehicle 10110 to enter a parking position.

As will be further explained, it may be advantageous to perform at least a portion of the maneuver while a person controlling the vehicle 10110 is outside the vehicle 10110. For example, in fig. 55a, after performing the restricted maneuver, entry into the vehicle 10110 may be restricted.

To perform the defined maneuver, the vehicle 10110 includes environment sensing devices for determining the location of the features 10125, 10140 in the vicinity of the vehicle 10110. The environment sensing device may include one or more sensing devices or imaging devices. While one or more sensing devices, such as ultrasonic sensing devices, may emit radiation and receive radiation reflected from features in the vicinity of the vehicle, it will be understood that the invention is not limited in this respect. Such an environmental sensing device has a minimum distance at which the exact location of the feature 10125 can be determined due to, for example, the resolution of the imaging device or the signal-to-noise ratio of the sensing device.

In the particular example shown here, vehicle 10110 includes a portion of an environment sensing device in vehicle movable protrusion 10182 or on vehicle movable protrusion 10182. For example, each side or rear view mirror of vehicle 110 may have a camera device or the like mounted thereto or mounted thereon.

Fig. 56 shows a controller 10200 or a control unit 10200 in a vehicle 10110, for example, included in fig. 55(a) and 55(b), according to an embodiment of the invention.

The controller 10200 comprises a control device 10210, an input device 10230 and an output device 10240. In some embodiments, the controller includes a memory device 10220, such as one or more memory devices 10220 for storing data therein. The output device 10240 may include an electrical output for outputting the steering signal. The steering signal represents a command for the vehicle 10110 to move. The instructions provided by the maneuver signals are provided to cause the vehicle 10110 to perform the defined maneuver. Here, the input device 10230 is used to receive an ambient signal indicative of the features 10125, 10140 in the vicinity of the vehicle 10110. The control device 10210 is arranged to control the output device 10240 to cause the vehicle 10110 to perform at least a portion of a defined maneuver in accordance with the environmental signal. Here, the controller 10200 includes a second output device for outputting an envelope signal indicative of the target defined manipulation completion position or the selectable envelope. The control apparatus 10210 is arranged to output an envelope signal indicative of a plurality of possible target-defining manipulation-completion positions or envelopes. The user may select a target defined manipulation completion location or envelope from a plurality of selectable target defined manipulation completion locations or envelopes based on the envelope signal. In at least some examples, the second output device includes a notification output device (not shown). Advantageously, the user may be informed of the availability of one or more target defined manipulation completion locations or envelopes, allowing the user to select their preferred target defined manipulation completion location or envelope if available. For example, the user may be notified of one or more target defined manipulation completion locations or envelopes, not necessarily those represented by dashed lines in fig. 55(a) and 55(b), prior to performing a defined manipulation to a defined manipulation completion location in fig. 55(a) or 55(b) or even during performance of a defined manipulation to a defined manipulation completion location in fig. 55(a) or 55(b), as further explained below with reference to fig. 59(a) through 59 (d).

Here, the control device 10210 is arranged to provide a notification signal indicating that there is no selectable vehicle envelope, corresponding to the vehicle envelope 10174, not suitable for accommodating the vehicle 10110 when performing the defined manoeuvre. Thus, the user is made aware by the notification that a vehicle envelope or void has been identified, but it is not suitable for performing a defined maneuver — for example, where the vehicle envelope is too small for performing a defined maneuver (e.g., where the distance of the adjacent feature 10125 and object 10140 is significantly closer than in fig. 55(b), the size is insufficient to accommodate or accommodate the vehicle 10110 in even a closed configuration.

The control device 10210 may be formed by one or more electronic processing devices, such as an electronic processor. The processor may be operable to execute computer readable instructions stored in the one or more storage devices 10220. The control means 10210 is arranged to control the output means 10240 to output a steering signal in dependence of an ambient signal, as will be explained. In some embodiments, the input device 10230 and the output device 10240 may be combined, for example, by being formed of I/O units or interface units. For example, the controller 10210 can include an interface to a network for forming a communication bus of the 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.

Input device 10230 may include an electrical input for receiving an ambient signal. Input device 10230 may include an electrical input for receiving a request signal. Here, the request signal indicates a signal received wirelessly, which represents a user request for movement of the vehicle 10110.

As shown herein, the storage device 10220 can be used to store data from the input device 10230. For example, the storage device may store data regarding the features 10125, 10140 or the null 10172 for future use. For example, where an occupant or user of the vehicle 10110 has actively selected (e.g., by inputting one or more parameter inputs) or implicitly shown (e.g., by repeated behavior or usage patterns) at least one preference for a target-defined maneuver completion location or envelope for one or more scenarios, the storage device may store data corresponding to the preference to provide a default and/or automatic target-defined maneuver completion location or envelope in accordance with inputs (e.g., environmental signals and/or location signals, etc.) indicative of such scenarios or similar scenarios for one or more preferences.

The data may be stored for use during and before performing the defined manipulations. Additionally or alternatively, the data may be stored for use during subsequent qualification manipulations. For example, in the case where data is stored before or during execution of a defined manipulation for reaching a defined manipulation completion position in fig. 59(a) to 59(d) or fig. 55a or 55b as shown by a dotted line, then the stored data may be used for a subsequent defined manipulation or may be used during a subsequent defined manipulation, such as a vehicle pickup manipulation from the defined manipulation completion position in fig. 59a to 59d or fig. 55a or 55 b. Where the stored data, such as features 10125, 10140, is used to perform at least a portion of the defined manipulation, the controller 200 may perform a check, such as a check on the validity or continued validity of the data. For example, the controller 10200 can validate the data with another input, such as a later input from the environment sensing device, or an input from another part of the environment sensing device (e.g., another sensor or camera located in another part of the vehicle 10110 that is capable of confirming the persistent presence and/or location of one or more features 10125, 10140).

In at least some examples, the controller 10210 can include a second input device 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 performing a defined manipulation to a selected target defined manipulation completion location or envelope.

It will be appreciated that the controller 10200 may be arranged to perform a portion of the defined manoeuvre in a particular mode. For example, a user may initiate a maneuver in which control is transferred to the controller 10210, the controller 10210 thereafter performing a defined maneuver to a defined maneuver complete position in which the mode of execution is variable (e.g., between an occupant in-vehicle mode and an occupant out-of-vehicle mode) during a portion of performing the defined maneuver.

Fig. 57 illustrates a system 10300 according to an embodiment of the invention. The system 10300 includes the controller 10210 described above and shown in fig. 56.

The system 10300 includes an environment sensing device 10330 for determining information about the environment of the vehicle 10110. In particular, the environment sensing device 10330 is configured for determining a location of one or more features in the vicinity of the vehicle 10110. In at least some examples, a portion of the environment sensing device is associated with one or more movable tabs 10182, such as one or more sensors or camera devices mounted in or on the vehicle rear view mirror. The environment sensing means 10330 is arranged to output an environment signal indicative of the determined characteristic. The environmental signal may be environmental data that may be stored in a memory. The environment sensing means may comprise one or more sensing means, for example imaging means such as camera means, or other sensing means such as lidar, radar, ultrasound, sonar means and the like. The signals output by each sensing device may be used to form a representation of the environment of the vehicle 10110 that is stored in memory for use by other systems of the vehicle 10110.

Here, the environment sensing device 10330 is arranged to determine the location of features such as: surface markings, which may be, for example, painted lines representing the perimeter of a parking port; or objects such as walls, pillars, or other vehicles with respect to which the vehicle needs to be maneuvered. The control means is arranged to determine the absence of a feature, for example an obstructive feature, such as the separation between an adjacent feature 10125 and an object 10140 as shown in fig. 55a and 59a, or two adjacent features 10125 as shown in fig. 55b and 59b, from the ambient signal. Thus, the control means is arranged to determine a vacancy 10172 in which there is no feature, for example no obstructive feature. In case the void 172 is sufficiently large, the control means are arranged to determine at least one vehicle envelope 10174 suitable for accommodating the vehicle 10110 in the defined manoeuvre complete position. The vehicle envelope 10174 includes a target position adapted to accommodate the vehicle 10110 in a defined maneuver completion position. Thus, the vehicle envelope 10174 herein includes the target-defined maneuver completion location. In at least this example, the vehicle envelope 10174 is determined from one-dimensional characteristics and/or measurements and/or estimations. In particular, here, the vehicle envelope 10174 is determined from an ambient signal indicative of a length, e.g., an unobstructed length between the features 10125, 10140. The unobstructed length is long enough to accommodate the vehicle 110 in the defined maneuver completion position, where the length is here the spacing 10176 between the features 10125, 10140 that is greater than the vehicle width 10194 in the defined maneuver completion position. The defined maneuver may include, for example, parking to a parking location.

The controller 10210 of the system 10300 herein includes a defined manipulation device. The control means is arranged to control the vehicle 10110 to perform at least one defined maneuver. The controller 10210 may include a defined maneuver controller for controlling one or more systems of the vehicle 10110 to perform one or more defined maneuvers. The defined manipulation devices may be associated with one or more actuators 10350 of the vehicle 10110. One or more actuators 10350 are provided to effect movement of the vehicle 110. The actuators may include one or more power steering mechanisms arranged to provide steering of the wheels of the vehicle 10110 in accordance with signals received from the controller 10210. The second actuator may comprise a dynamic braking mechanism of the vehicle 10110 arranged to actuate a brake of the vehicle in accordance with a signal received from the controller 10210. The third actuator comprises a powertrain of the vehicle. The controller 10210 is arranged to control steering of the vehicle wheels 10180 relative to the feature 10125. The fourth actuator 10350 includes one or more mechanisms for changing the position of the one or more movable tabs 10182.

The system 10300 shown herein includes a motion control device 10320. The motion control means 10320 may be a motion control unit. The motion control device 10320 is arranged to receive manipulation signals output by the controller 10210. Motion control device 10320 is associated with one or more motion units of vehicle 10110, which may form part of a powertrain (not shown) of vehicle 10110. The motion unit may include one or more of an internal combustion engine and one or more electric machines of the vehicle 10110. The powertrain is arranged to provide power or torque to cause movement along the longitudinal axis of the vehicle 10110, i.e., forward or reverse movement of the vehicle 10100, in accordance with steering signals received from the controller 10210. The motion control means 10320 is arranged to control the application of torque to one or more wheels of the vehicle 10110 to move the vehicle 10110 along a longitudinal axis of the vehicle, i.e. to move the vehicle in general forward or backward. The torque may comprise a driving torque, i.e. a driving torque applied in a desired direction of movement, e.g. a forward direction of movement. The torque may also include a braking torque, i.e., a braking torque applied to resist the driving torque. In at least some embodiments, both the driving torque and the braking torque can be applied simultaneously in order to provide low speed movement of the vehicle 10110. The braking torque may also be applied at least partially after the driving torque in order to achieve precise movement of the vehicle 10110. To effect control of steering, controller 10210 can communicate with motion control device 10320. Thus, one or more actuators 10350 may control the direction and movement of the vehicle to perform a defined maneuver. The defined manipulation is performed in accordance with the environmental signals provided by the environmental sensing means 10330.

The one or more defined maneuvers that the vehicle 10110 may perform under the control of the controller 10210 may include a parking maneuver such as that shown in fig. 55a or 55b, in which the vehicle 10110 is controlled to reach a parking location.

As shown therein, the system 10300 includes a receiver device 10310 for receiving the signal 10305. Signals 10305 may be received wirelessly from a mobile device 10390 associated with a person responsible for vehicle 10110. Signal 10305 indicates a user request for vehicle movement of vehicle 10110, as described above. The receiver device 10310 is arranged to output a request signal to the input device 10230 of the controller 10210 as described above. The request signal may be output by the receiver device 10310 onto a communication bus of the vehicle 10110, which may communicatively couple the components of the system 10300.

The receiver device 10310 may be in the form of a radio unit 10310. The radio unit 10310 may include a receiver for receiving radio signals 10305 from the mobile device 10390. In some embodiments, the radio unit 10310 may also include a transmitter, or may be a transceiver 10310 configured to receive radio signals 10305 transmitted from the mobile device 10390 and transmit the signals to the mobile device 10390. The radio unit 10103 and the mobile device 10390 may be arranged to provide a wireless local area network via which two-way communication may occur between the radio unit 10103 and the mobile device 10390. For example, radio 10103 may be arranged to communicate with mobile device 10390 via wifi (rtm). In alternative embodiments, other radio communication standards may be used for communication. While in one example, communication is provided between the radio unit 10103 and the mobile device 10390 via bluetooth (RTM), other protocols or standards are contemplated.

The mobile device 10390 may be an electronic key fob associated with the vehicle 10110, such as may be used to enter the vehicle 10110 and activate the vehicle 10110 or power up the vehicle 10110. In other implementations, the mobile device 10390 may be an electronic device associated with a person responsible for the vehicle 10100, such as a mobile phone, tablet, watch, wearable electronic device, or other computing device associated with the person. Mobile device 10390 can receive user input indicating that the person wishes to move vehicle 10110. User input may be provided in the form of buttons or keys, icons activating a graphical display, gestures, or voice commands. Other forms of user input are also contemplated.

FIG. 58 illustrates a method 10400, according to an embodiment of the invention. Method 10400 is a method of controlling movement of vehicle 10110. The method 10400 can be formed by the controller 10210 and the system 10300 described above with reference to fig. 56 and 57. The method 10400 will be described with reference to fig. 59(a) and 59(b) to 59(d) corresponding to the scenes shown in fig. 55(a) and 55(b), respectively, as an example.

Method 10400 broadly includes the steps of: an environmental signal is received 10410 from the environmental sensing device 10330 indicative of the features 10125, 10140 in the vicinity of the vehicle 10110 and the presence of a suitable void 10172 for accommodating the vehicle in one or more target defined maneuver completion locations or envelopes following performance of the defined maneuver is determined 10420 from the environmental signal. The control identifies 10430 whether the vehicle 10110 can be shifted within the null 10172; for example, where there may be multiple targets defining a maneuver completion location or envelope. In the case where it is appropriate to shift the target-defined manipulation completion position, an envelope signal indicating in which direction (e.g., left lateral side or right lateral side) the manipulation may be shifted is output, thereby providing selection of the target-defined manipulation completion position or envelope suitable for accommodating the vehicle when performing the defined manipulation. Once the 10435 offset is selected, the control device controls the performance 10440 of the defined maneuver.

Referring to fig. 58, the illustrated embodiment of the method 10400 includes the step of receiving 10410 an environmental signal from an environmental sensing device 10330. The controller 10210 determines 10420 whether the ambient signal indicates one or more characteristics 10125 in the vicinity of the vehicle 10110 corresponding to the appropriate vacancy 10172. If there is no suitable slot, no qualifying manipulation is performed. In at least some examples, such non-execution or unavailability is communicated to the user (e.g., notifying the user that a suitable vehicle envelope or vacancy is not detected, or that only an unsuitable vehicle envelope or vacancy is detected).

It will be understood that, in at least some examples, the defined manipulation may be performed without explicit or discrete selection by the user. For example, in the case where only a single target defined manipulation completion position is available or suitable and there is no offset space, the defined manipulation 10440 to the defined manipulation completion position may be performed without any explicit offset. Also, in at least some examples, a general default offset for performing one or more defined manipulations can be provided, such as a preferred offset direction if multiple offsets are available. The default may be adaptable, e.g., programmable by a user and/or self-learned, such as to evolve or adapt (e.g., evolve or adapt over time as a user behaves). In at least some examples, there may be a default mode for performing a defined maneuver without any offset to the central target defined maneuver completion location. In other examples, the default mode may be a particular offset, such as a predetermined amount to a particular lateral direction (e.g., an offset away from a feature laterally proximate to a lateral side of a driver of the vehicle 10110).

The offset may be explicitly selected via user input, e.g., via selection of an interface. In at least some examples, the offset selection can be via a user action. For example, where an offset is available, selection of the offset direction may be achieved, at least in part, by: the user positions the vehicle 10110 at an offset manipulation start position, in which the vehicle 10110 is offset toward a preferred offset direction for defining a manipulation completion position. Additionally or alternatively, the selection may be made via another system or interface, such as activating a left/right signal indicator, a steering wheel, a touch screen, a voice command, or the position of the occupant (e.g., the occupant opens a vehicle door, leaves a vehicle seat, etc.).

In fig. 59(a), the vehicle 10110 after the limited manipulation is performed from the start position of fig. 55(a) to the limited manipulation completion position of fig. 59(a) according to the embodiment of the present invention is shown. Here, the limit maneuver has been performed to target limit maneuver completion position offset to the left side (top, as viewed in fig. 57) of the vehicle 10110, spaced apart from the central longitudinal axis 10197 of the void 10172 by an offset interval 10199. Thus, the spacing 10192 of the vehicle 10110 from the wall feature 10125 on the left lateral side of the vehicle 10110 is shorter than the spacing 10192 from the stationary vehicle feature 10140 on the right lateral side of the vehicle 10110, with the vehicle 10110 in the closed configuration at the defined maneuver completion location in fig. 59 (a). As shown herein, in the particular scenario depicted, the offset-defined maneuver completion location may allow the occupant 10195 to more easily exit the vehicle 10110 via the vehicle door 10188. It will be appreciated from the defined maneuver completion position shown in phantom in FIG. 55a that the occupant 10195 may otherwise have difficulty entering the vehicle 10110, e.g., via the vehicle door 10188 closest to the occupant 10195 as shown in FIG. 59 a-particularly, e.g., if the stationary vehicle 10140 leaves and is replaced by another vehicle parked closer to the vehicle 10110. Thus, if the occupant 10195 subsequently returns to the vehicle at a later time after completing the defined maneuver (e.g., drives the vehicle 10110 away), the occupant 10195 may find it easier to access the vehicle 10110 in the defined maneuver complete position in fig. 59a than in fig. 55a — in fig. 55a, the occupant 10195 may have more difficulty entering or accessing the vehicle 10110 (e.g., a later stationary vehicle may be in the way of opening the vehicle door 10188 adjacent thereto).

Fig. 59(b) shows a scene substantially similar to the scene shown in fig. 55 (b). However, in fig. 59(b), the control means has determined the possibility of shifting the vehicle 10110 within the space 10172. As shown herein, two example vehicle envelopes 10174 are indicated each having an offset spacing 10199 from the central longitudinal axis 10197 of the void. Provide a user (not shown) with a selection of an offset direction (e.g., left or right); and, according to the user's selection, performing a defining manipulation to a desired defining manipulation completion position, which is displayed as shifted rightward, parked in the right-hand-side vehicle envelope 10172, as shown in fig. 59 (c).

It should be appreciated that the scenario as shown in fig. 59(c) now presents another scenario for a potentially defined manipulation. For example, as indicated in fig. 59(d), another vehicle 10110b may now perform a defined maneuver into the void 10172 between the parked vehicle 10110 and the left-hand side wall feature 10125. Such an opportunity would not be possible in the scenario of fig. 55 (b). As shown by the broken line in fig. 59(d), the vehicle 10110b can perform a restricted maneuver to a restricted maneuver completion position adjacent to the parked vehicle 10110. As shown here, by way of example, the second vehicle 10110b may also perform a defined maneuver to an offset defined maneuver completion position, for example, with a small offset 10199 between the longitudinal axis of the vehicle 10110b and the longitudinal axis 10197 of the void defined between the parked vehicle 10110 and the left-hand side wall feature 10125. Thus, the spacing provided between their respective two parked vehicles 10110, 10110b defining a maneuver completion location is slightly greater than the spacing between each vehicle 10110, 10110b and its respective nearest adjacent wall feature 10125. It will also be understood that the vehicle 10110b may be positioned without offset in a defined maneuver completion location (e.g., centered between the parked vehicle 10110 and the left-hand wall feature 10125). It should be appreciated that performing a defined maneuver to an offset defined maneuver completion location as shown in FIGS. 59(b) and 59(c) has allowed the use of the empty space of FIGS. 55(b) and 59(b) for containing two vehicles 10110, 10110b, which would otherwise not be possible (e.g., as shown in FIG. 55 (b)).

Once in the defined maneuver completion position, which is the park position in each of fig. 59(a), 59(b), 59(c), and 59(d), user 10195 typically applies the parking brake to hold vehicle 110 stationary and the engine off.

The controller 10200 may be arranged to provide and/or select the offset in dependence on a characteristic of the ambient signal, e.g. the null 10172. For example, the controller 10200 can be arranged to provide and/or select the offset as a function of the size of the void 10172, the positioning of the adjacent object 10140, 10150, or other parameter associated with the void 10172. In at least some examples, the available offset or offsets can be limited (e.g., by the void 10172 including a size limitation that is not appropriate for entering/exiting one or more vehicle openings when offset to a particular direction and/or offset by a particular distance). Additionally or alternatively, the controller 10200 may be arranged to provide and/or select the offset in dependence on other parameters, such as one or more of: ambient environmental conditions (e.g., rain, temperature, light, darkness, time of day, day of week, etc.); terrain conditions (e.g., road surface conditions, off-road surface conditions, grade, etc.); one or more locations of a plurality of vehicle occupants, such as the location of each vehicle occupant.

The controller 10210 may be arranged to allow user adaptation. For example, a user may possibly override, program, or adjust controller 10210 at least in part for one or more of: one or more available modes; one or more inputs for determining an available mode; selection means for selecting a mode. The controller 10210 can be arranged to be manually overridden, programmed, or adjusted, for example, to adjust the output of the steering signals. Additionally or alternatively, the controller 10210 can be arranged to automatically or semi-automatically override, program, or adjust the output of the steering signals, such as by learning from user behavior associated with one or more of an input pattern, a geographic location, a user identity (e.g., where multiple users are not simultaneously using the vehicle 10110), such as repeated user behavior. For example, the controller 10210 can be arranged to automatically select the default mode when the occupant 10195 is located at a particular location (e.g., relative to the vehicle 10110), or when the vehicle 10110 is positioned at a particular location, such as a home or garage, where the user previously performed a defined maneuver to exit from a known vacant location.

It will be appreciated that other defined manipulations than those illustrated may be performed. For example, the restricted maneuver may include a pickup maneuver from the position of fig. 59(d), for example, where the occupant 10195 is outside the vehicle 10110 and initiates the restricted maneuver of the occupant in the out-of-vehicle mode, enters the vehicle 10110 at an intermediate time when the restricted maneuver is performed, and continues to perform the restricted maneuver of the occupant in the in-vehicle mode. It will be appreciated that the controller 10200 may be arranged to allow the occupant to shift between an in-vehicle position and an out-of-vehicle position during performance of the defined manoeuvre. For example, the controller 10200 may be arranged to allow a defined interruption or suspension of maneuvering, for example to allow the occupant 10195 to transfer into or out of the vehicle 10110 when the vehicle 110 is stationary. In at least some examples, the vehicle 10110 may have steerable rear wheels; or the void may comprise a fishbone (diagonal) void 10172 or a vertical void (e.g., where the vehicle 10110 is parked at one end).

As a result of method 10400, the vehicle may be more advantageously positioned or configured after the defined maneuver is performed. It will also be appreciated that embodiments of the invention are not limited to the usefulness associated with defining manipulations. Providing or indicating an offset-defined maneuver completion location may be useful even when parking or when driven by a human driver.

Eleventh technique

FIG. 61 shows a vehicle 11110 in an example scenario in accordance with an embodiment of the invention. In fig. 61, vehicle 11110 is shown as having a vehicle forward direction indicated by arrow 11114, which is shown as being parallel to a central longitudinal axis 11112 of vehicle 11110. In the illustrated scenario, vehicle 11110 is shown in a defined maneuver start position and a defined maneuver complete position of vehicle 11110 shown in phantom. In the particular scenario illustrated in fig. 61, it may be desirable to perform a defined maneuver to drive the vehicle 11110 out of the void 11172 to a defined maneuver completion location.

In FIG. 61, the vehicle 11110 is shown in phantom at a target or desired defined maneuver completion location outside of the vacancy 11172, in which case a defined maneuver would be performed in which the vehicle performs a pick-up defined maneuver to exit the vacancy 11172 with the vehicle 11110 moving in the forward direction 11114, as shown herein; and additionally may be moved in opposite, reverse directions in situations where multiple track portions are needed or desired to perform a defined maneuver. Vehicle 11110 is shown with respect to feature 11125 in the vicinity of vehicle 11110. In this example, the feature 11125 is an object in a starting position that is a wall parallel to the longitudinal axis 11112 of the vehicle 11110, i.e., generally parallel to a side of the vehicle 11110, such as the left side thereof. The object is not limited to being a wall 11125 and can be, for example, a bollard, fence, obstruction, or other object at or adjacent to the void 11172, e.g., to form a boundary thereof. As shown in fig. 61, another feature 11140 in the form of a stationary vehicle is located at one end of the void 11172 toward the rear of the vehicle 11110. As shown in FIG. 61, another fixed vehicle 11150 is located at the opposite end of the void, in front of the vehicle 11110 in the starting position shown in FIG. 61.

In fig. 61, the dimensions of the vehicle 11110 as the width 11194 shown herein are such that the vehicle 11110 is positioned in the void 11172 with the corresponding dimension of the void 11172 (shown here as width 11176) being sufficient, as shown here, to be wide. It will be appreciated that in at least some such scenarios, multiple trajectory portions may be required to iteratively move the vehicle 11110 out of the vacancy 11172. It should be understood that although shown here in plan view, the depicted scene is three-dimensional.

As can be seen in fig. 61, the vehicle in the defined maneuver completion position (on the right, outside of the void 11172 as shown in fig. 61) is positioned adjacent to the front-most stationary vehicle 11150 with a gap therebetween. From the defined maneuver completion position of FIG. 61 (shown in phantom), the vehicle 11110 may be normally driven, for example, manually. It will be appreciated that the particular scenario of fig. 61 may correspond to a scenario in which vehicle 11110 in the defined maneuver completion position is properly positioned to normally exit, e.g., in a traffic direction or flow. For example, the vehicle 11110 may be positioned on a roadway (e.g., in the uk) where the vehicle is traveling on the left-hand side of the roadway, such that in the particular case shown in fig. 61, the vehicle 11110 is not directly against oncoming traffic. After the defined maneuver is complete, the user may control or control the vehicle 11110 from the defined maneuver complete position.

Embodiments of the present invention aim to ameliorate this problem.

It will be appreciated that in the scenario illustrated in FIG. 61, the defined maneuver may be a maneuver of vehicle 11110 that is performed automatically by vehicle 11110, i.e., under control of one or more systems of vehicle 11110. This defined maneuver may be considered to be performed automatically by the vehicle 11110, or at least semi-autonomously. As shown, in fig. 61, the restricted maneuver may be a pickup maneuver for controlling the vehicle 11110 to move out of the parking position.

As will be further explained, it may be advantageous to perform at least a portion of the maneuver while a person controlling the vehicle 11110 is outside the vehicle 11110. For example, in fig. 61, access to the vehicle 11110 may be restricted before performing or at least beginning a restricted maneuver.

To perform the defined maneuver, the vehicle 11110 includes an environment sensing device for determining the position of the features 11125, 11140 in the vicinity of the vehicle 11110. The environment sensing device may include one or more sensing devices or imaging devices. While one or more sensing devices, such as ultrasonic sensing devices, may emit radiation and receive radiation reflected from features in the vicinity of the vehicle, it will be understood that the invention is not limited in this respect. Such an environmental sensing device has a minimum distance at which the exact location of the feature 11125 can be determined due to, for example, the resolution of the imaging device or the signal-to-noise ratio of the sensing device.

In the particular example shown here, vehicle 11110 includes a portion of the environment sensing device in vehicle movable projection 11182 or on vehicle movable projection 11182. For example, each side or rear view mirror of vehicle 11110 may have an imaging device or the like mounted thereto or mounted thereon.

Fig. 62 shows a controller 11200 or control unit 11200, for example, included in the vehicle 11110 in fig. 61, according to an embodiment of the present invention.

The controller 11200 includes a control device 11210, an input device 11230, and an output device 11240. In some embodiments, the controller includes a storage device 11220, such as one or more storage devices 11220 for storing data therein. The output device 11240 may include an electrical output for outputting the steering signal. The steering signal represents an instruction for the vehicle 11110 to move. The instructions provided by the maneuver signals are provided to cause the vehicle 11110 to perform the defined maneuver. Here, the input device 11230 is operable to receive an environmental signal indicative of the features 11125, 11140, 11150 in proximity to the vehicle 11110. The control device 11210 is arranged to control the output device 11240 to cause the vehicle 11110 to perform at least a portion of the defined maneuver in accordance with the environmental signal. Here, the controller 11200 includes a second output in the form of a notification output device for outputting a notification signal for notifying a user of the start of the transition phase. The control device 11210 is arranged for outputting a notification signal indicating the start of the transition phase simultaneously with the start of the transition phase. Thus, the user may be simultaneously alerted to the beginning of the transition phase. For example, during execution of the defined manipulation to the defined manipulation completion position of fig. 61, the user may be notified of the possibility of transferring control from the controller 11200 to the user, as further explained below with reference to fig. 65(a) to 65 (d).

The control device 11210 may be formed by one or more electronic processing devices, such as an electronic processor. The processor may be operable to execute computer readable instructions stored in the one or more storage devices 11220. The control device 210 is arranged to control the output device 11240 to output a steering signal in dependence on the ambient signal, as will be explained. In some embodiments, the input device 11230 and the output device 11240 may be combined, for example, by being formed of I/O units or interface units. For example, the controller 11210 may include an interface to a network for forming a communication bus of the 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 device 11230 may include an electrical input for receiving an environmental signal. The input device 11230 may include an electrical input for receiving a request signal. Here, the request signal indicates a signal received in a wireless manner, which represents a user request for movement of the vehicle 11110.

As shown herein, the storage device 11220 may be used to store data from the input device 11230. For example, the storage device may store data about the features 11125, 11140, 11150, or the empty 11172 for future use. For example, where an occupant or user of vehicle 110 has actively selected (e.g., by entering one or more parameter inputs) or implicitly shown (e.g., by repeated behavior or usage patterns) preferences for one or more parameters of a transition phase of one or more scenarios, the storage device may store data corresponding to the preferences to provide default and/or automatic parameters of the transition phase in accordance with inputs (e.g., environmental signals and/or location signals, etc.) indicative of such or similar scenarios for the one or more preferences. For example, in the event that a user in a particular scenario does not wish to be provided with a control transfer prior to completion of a defined maneuver to a defined maneuver completion location, then the transition phase, or at least a notification thereof, may be suppressed.

The data may be stored for use during execution of the defined manipulation before and during execution of the defined manipulation. Additionally or alternatively, the data may be stored for use during subsequent qualification manipulations. For example, when data is stored before or during execution of a defined maneuver to reach any one of fig. 65(a) to 65(d) or the defined maneuver complete location in fig. 61 as shown in dashed lines, then the stored data may be used for or may be used during a subsequent defined maneuver, such as a pick-up maneuver from any one of fig. 65a to 65d or the defined maneuver complete location in fig. 61. Where the stored data, such as features 11125, 11140, is used to perform at least a portion of the defined manipulation, the controller 11200 may perform a check, such as a validity or continued validity, on the data. For example, the controller 11200 may validate the data with another input, such as a later input from the environment sensing device, or an input from another portion of the environment sensing device (e.g., another sensor or camera located in another portion of the vehicle 11110 that is capable of confirming the persistent presence and/or location of one or more features 11125, 11140).

In at least some examples, the controller 11210 can include a second input device 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 performing a defined manipulation to a target defined manipulation completion location.

It will be understood that the controller 11200 may be arranged to perform a portion of the defined manipulation in a particular mode. For example, a user may initiate a maneuver to perform a first portion of the maneuver by controlling in a first mode, after which the control is in a different mode, wherein the execution mode is variable during a portion of performing the defined maneuver (e.g., between an occupant in-vehicle mode and an occupant out-of-vehicle mode).

FIG. 63 illustrates a system 11300 according to an embodiment of the present invention. The system 11300 includes the controller 11210 described above and shown in fig. 62.

The system 11300 includes an environment sensing device 11330 for determining information about the environment of the vehicle 11110. In particular, the environment sensing device 11330 is configured to determine the location of one or more features in the vicinity of the vehicle 11110. In at least some examples, a portion of the environment sensing device is associated with one or more movable protrusions 11182, such as one or more sensors or camera devices mounted in or on the vehicle rear view mirror. The environment sensing means 11330 is arranged to output an environment signal indicative of the determined characteristic. The environmental signal may be environmental data that may be stored in a memory. The environment sensing means may comprise one or more sensing means, for example imaging means such as camera means, or other sensing means such as lidar, radar, ultrasound, sonar means and the like. The signals output by each sensing device may be used to form a representation of the environment of the vehicle 11110, which is stored in memory for use by other systems of the vehicle 11110.

Here, the environment sensing device 11330 is arranged to determine the location of features such as: surface markings, which may be, for example, painted lines representing the perimeter of a parking port; or objects such as walls, pillars, or other vehicles with respect to which the vehicle needs to be maneuvered. The control means is arranged to determine the absence of a feature, for example an obstructive feature, such as the spacing between adjacent features 11140, 11150 shown here, from the ambient signal. Thus, the control means is arranged to determine a vacancy 11172 in which there is no feature, for example no obstructive feature. In the event that the void 11172 is sufficiently large, the control device is arranged to determine a vehicle envelope suitable for accommodating the vehicle 11110 in the defined maneuver complete position. The vehicle envelope includes a target position adapted to accommodate the vehicle 11110 in a defined maneuver completion position. Thus, the vehicle envelope here includes the target-defined maneuver completion location. In at least this example, the vehicle envelope is determined from one-dimensional characteristics and/or measurements and/or estimates. In particular, here, the envelope of the vehicle is determined from the ambient signal indicating the length, e.g. the unobstructed length between the features 11140, 11150. The unobstructed length is long enough to accommodate the vehicle 11110 in the defined maneuver complete position, where the length is here the spacing between the features 11140, 11150 that is greater than the vehicle length in the defined maneuver complete position. The defined maneuver may include, for example, parking to a parking location.

The controller 11210 of the system 11300 here includes a defined manipulation device. The control device is arranged to control the vehicle 11110 to perform at least one defined maneuver. The controller 11210 may include a defined maneuver controller for controlling one or more systems of the vehicle 11110 to perform one or more defined maneuvers. The defined maneuvering device may be associated with one or more actuators 11350 of the vehicle 11110. One or more actuators 11350 are provided to effect movement of the vehicle 11110. The actuators may include one or more power steering mechanisms arranged to provide steering of the wheels of the vehicle 11110 in accordance with signals received from the controller 11210. The second actuator may comprise a dynamic braking mechanism of the vehicle 11110 arranged to actuate brakes of the vehicle in accordance with signals received from the controller 11210. The third actuator comprises a powertrain of the vehicle. Controller 11210 is arranged to control the steering of wheels 11180 relative to features 11125. The fourth actuator 11350 includes one or more mechanisms for changing the position of one or more movable tabs 11182.

The system 11300 shown herein includes a motion control device 11320. The motion control device 11320 may be a motion control unit. The motion control device 320 is arranged to receive manipulation signals output by the controller 11210. Motion control device 11320 is associated with one or more motion units of vehicle 110, which may form part of a powertrain (not shown) of vehicle 11110. The motion unit may include one or more of an internal combustion engine and one or more electric machines of the vehicle 11110. The powertrain is arranged to provide power or torque to cause movement along the longitudinal axis of vehicle 11110, even if vehicle 11100 moves generally forward or backward, in accordance with steering signals received from controller 11210. The motion control device 11320 is arranged to control the application of torque to one or more wheels of the vehicle 11110 to move the vehicle 11110 along a longitudinal axis of the vehicle, i.e., generally to move the vehicle forward or backward. The torque may comprise a driving torque, i.e. a driving torque applied in a desired direction of movement, e.g. a forward direction of movement. The torque may also include a braking torque, i.e., a braking torque applied to resist the driving torque. In at least some embodiments, both the driving torque and the braking torque may be applied simultaneously to provide low speed movement of the vehicle 11110. The braking torque may also be applied at least partially after the driving torque in order to achieve a precise movement of the vehicle. To effect control of the steering, the controller 11210 may communicate with a motion control device 11320. Thus, one or more actuators 11350 may control the direction and movement of the vehicle to perform a defined maneuver. The defined manipulation is performed in accordance with an environmental signal provided by an environmental sensing device 11330.

The one or more defined maneuvers that vehicle 11110 may perform under the control of controller 11210 may include a parking maneuver such as that shown in fig. 61, where vehicle 11110 is controlled to reach a parked position.

As shown therein, system 11300 includes a receiver device 11310 for receiving signal 11305. The signal 11305 may be received wirelessly from a mobile device 390 associated with a person responsible for the vehicle 11110. Signal 11305 indicates a user request for vehicle movement of vehicle 11110, as described above. The receiver device 11310 is arranged to output a request signal to the input device 11230 of the controller 11210 as described above. The request signal may be output by the receiver device 11310 onto a communication bus of the vehicle 11110, which may communicatively couple the components of the system 11300.

The receiver device 11310 may be in the form of a radio unit 11310. The radio unit 11310 may include a receiver for receiving radio signals 11305 from the mobile device 11390. In some implementations, the radio 11310 may also include a transmitter, or may be a transceiver 11310 configured to receive radio signals 11305 sent from the mobile device 11390 and send the signals to the mobile device 11390. Radio 11103 and mobile device 11390 may be arranged to provide a wireless local area network via which two-way communication may occur between radio 103 and mobile device 11390. For example, radio 11103 may be arranged to communicate with mobile device 11390 via wifi (rtm). In alternative embodiments, other radio communication standards may be used for communication. In one example, while communication is provided between the radio 11103 and the mobile device 11390 via bluetooth (RTM), other protocols or standards are contemplated.

The mobile device 11390 may be an electronic key fob associated with the vehicle 11110, such as may be used to enter the vehicle 11110 and to activate the vehicle 11110 or power up the vehicle 11110. In other implementations, the mobile device 11390 may be an electronic device associated with the person responsible for the vehicle 11100, such as a mobile phone, tablet, watch, wearable electronic device, or other computing device associated with the person. The mobile device 11390 may be capable of receiving user input indicating that the person wishes to move the vehicle 11110. User input may be provided in the form of button or key presses, activation of graphically displayed icons, gestures, or voice commands. Other forms of user input are also contemplated.

FIG. 64 shows a method 11400 according to an embodiment of the invention. Method 400 is a method of controlling movement of vehicle 11110. The method 11400 may be formed by the controller 11210 and the system 11300 described above with reference to fig. 62 and 63. The method 11400 will be described with reference to fig. 65(a) to 65(d) corresponding to the scene shown in fig. 61 as an example.

Method 11400 broadly includes the steps of: an environmental signal is received 11410 from the environmental sensing device 11330, the environmental signal being indicative of the features 11125, 11140, 11150 in the vicinity of the vehicle 11110, and a transition phase, in particular the start thereof, is determined 11420 from the environmental signal, during which transition phase control may be transferred from the controller 11200 to the user. Thereafter, the user may choose to take over control of vehicle 11110 from controller 11200 during the transition phase. In the case where the user does not take over the control, the controller 11200 continues the control to move the vehicle 11110 to the completion position of the defined maneuver to complete the defined maneuver 11440. Here, after the defining maneuver 11440 is completed, or after the user takes over, normal driving 11450 may be performed. For example, the user may perform manually controlled driving to move the vehicle 11110 completely away from the scene of fig. 65 (d).

Referring to FIG. 64, the illustrated embodiment of method 11400 includes the step of receiving 11410 an environmental signal from an environmental sensing device 11330. The controller 11210 determines 11420 whether the environmental signal indicates one or more characteristics 11125, 11140, 11150 in the vicinity of the vehicle 11110, corresponding to whether the vehicle 11110 may complete the defined maneuver without any change in the longitudinal direction or any change in the gears. Thus, the vehicle 11110 may move out of the void 11172 in a single continuous longitudinal direction or at the beginning of a transition phase. In at least some examples, the user is notified of the start of such a transition phase, thereby explicitly alerting the user to the availability of the control transfer.

Fig. 65(a) shows the vehicle 11110 after the initial trajectory portion of the pick-up limit maneuver is performed from the solid line position of fig. 61. Vehicle 11110 is shown as having moved in a forward longitudinal direction 11114, skewing vehicle 110 via controlled steering of steerable wheels 11180. Fig. 65(b) shows the vehicle 11110 after the second trajectory portion of the pick-up limit maneuver is performed from the position of fig. 65 (a). Vehicle 11110 is shown as having moved in a reverse direction, again causing vehicle 11110 to pitch through controlled steering of steerable wheels 11180. In at least some examples, the steerable wheels may be or include steerable rear wheels. The vehicle 11110 is shown in fig. 65(b) ready to begin the final pick-up trajectory portion to exit the empty space 11172. Fig. 65(c) shows the vehicle 11110 during the final pick trajectory portion, where the vehicle 11110 has avoided (clear) the stationary vehicle 11150 in front of the empty space 11172. In the position shown in fig. 65(c), control has been transferred from the control device to the user. In the particular scenarios and embodiments shown, the position of FIG. 65(b) represents a transition start position from which control may be transferred from the control device without canceling or interrupting the maneuver. As shown in fig. 65(d), the transition phase here corresponds to the final trajectory portion represented by the example path 11193. Thus, the user can take over control of the vehicle at any time or point during the transition phase between the positions of fig. 65(c) and 65 (d).

In at least some examples, the user may take over or assume control by explicit selection or by performing one or more predetermined actions, for example selected from one or more of: touching the steering wheel or placing a hand on the steering wheel; the accelerator control is activated (e.g., the pedal is depressed).

After the transition period begins, the vehicle 11110 may respond to the driver accelerator request. In at least some examples, the control device is arranged to influence the vehicle behaviour at least during the transition phase, even after transfer of control to the user. For example, the control device may be arranged to provide or continue to provide steering support, for example until the vehicle 11110 leaves the empty position and is parallel to the initial parking orientation (e.g., the vehicle 11110 is in a position similar to the position of the solid line in fig. 65 (d)). In at least some examples, the control device is arranged to limit the acceleration profile during at least a portion of the transition phase, for example until the vehicle 11110 leaves the empty position and is parallel to the initial parking orientation. In at least some examples, when the vehicle 11110 leaves and is parallel to the initial orientation, then the driver resumes full control without any assistance. In at least some examples, the control means may be arranged to provide full control of at least one element. For example, activating manual speed control (e.g., pressing an accelerator pedal) may be considered a switch request for full control of vehicle speed and acceleration.

The control device 11210 may be arranged to provide a time-out at the defined manipulation completion location or even during the transition phase. During the timeout period, the driver may assume or resume control similar to that described above (e.g., by placing a hand on the steering wheel and pressing the accelerator); and completing the maneuver to the defined maneuver complete position (e.g., via the auxiliary steering and/or acceleration limit properties). Then, the driver performs driving again or performs normal driving. In other examples where a timeout is provided, the driver will restart in a completely manual driving manner.

It will be understood that, in at least some examples, the defined manipulation may be performed without transferring control to the user. For example, in at least some scenarios, the user may tend to complete a defined maneuver to the defined maneuver complete position in fig. 61 and 65(d) with full control by the controller. In at least some examples, if the user has not transferred control before completing the defined maneuver, vehicle 11110 stops at the defined maneuver complete position in FIG. 65 (d). In at least some such examples, the vehicle 11110 reaches the defined maneuver complete position of FIG. 65(d) and remains stationary during the timeout. During the timeout, if the user presses the accelerator, the acceleration request is responded, and the vehicle 11110 returns control to the driver for normal driving. If the timeout limit is reached, the vehicle 11110 may stop at a rest position in the defined maneuver complete position of FIG. 65(d), such as by applying the parking brake and optionally engaging or disengaging the gears as appropriate. Thereafter, the vehicle 11110 responds to a normal driving request from the driver.

The controller 11200 may be arranged to inform and/or define the start of the transition phase in dependence on an ambient signal, e.g. the vacancy 11172 and/or the characteristics of the features 11125, 11140, 11150. For example, the controller 11200 may be arranged to inform and/or define the start of the transition phase in dependence on the size of the vacancy 11172, the positioning or proximity of the adjacent objects 11140, 11150, or other parameters associated with the vacancy 11172. Additionally or alternatively, the controller 11200 may be arranged to inform and/or define the start of the transition phase in dependence on other parameters, such as one or more of the following: ambient environmental conditions (e.g., rain, temperature, light, darkness, time of day, day of week, etc.); terrain conditions (e.g., road surface conditions, off-road surface conditions, grade, etc.); one or more locations of a plurality of vehicle occupants, such as the location of each vehicle occupant. Other parameters may be one or more of the following: a measured parameter; the determined parameters; the estimated parameters. For example, the state or condition may depend at least in part on the estimated condition. For example, where the vehicle is in a geographic location during the day (e.g., not in a tunnel, shadow, etc.), then a low light level indication may be used as an indication of cloudy or cloudy environmental conditions for that location.

The controller 11210 may be arranged to allow user adaptation. For example, a user may be able to at least partially override, program, or adjust the controller 11210 with respect to one or more of: parameters of the transition phase; scenarios in which the transition phase or at least its notification is suppressed; one or more available modes; one or more inputs for determining an available mode; selection means for selecting a mode. The controller 11210 may be arranged to be manually overridden, programmed or adjusted, for example to adjust the output of the steering signals and/or notification signals. Additionally or alternatively, the controller 11210 may be arranged to automatically or semi-automatically override, program, or adjust the output of the maneuver signals and/or notification signals, e.g., by learning from user behaviors, such as repetitive user behaviors, associated with one or more of the input pattern, the geographic location, the user identity (e.g., where multiple users do not use the vehicle 11110 at the same time). For example, the controller 11210 may be arranged to automatically select a mode or transition phase parameter when the occupant 11195 is located at a particular location (e.g., relative to the vehicle 11110), or when the vehicle 11110 is positioned at a particular location, such as a home or garage, where the user has previously performed a defined maneuver exiting from a known vacancy.

It will be appreciated that other defined manipulations than those illustrated may be performed. For example, the defined maneuver may include a pickup maneuver from a vertical parking lot space (in contrast to the parallel, roadside pickup maneuver shown). It will be understood that the controller 11200 may be arranged to allow an occupant to move between an in-vehicle position and an out-of-vehicle position during performance of a defined maneuver. For example, the controller 11200 may be arranged to allow for a defined interruption or suspension of maneuvering, e.g., to allow the occupant 11195 to move into the vehicle 11110 or out of the vehicle 11110 while the vehicle 11110 is stationary. In at least some examples, the vehicle 11110 may have steerable rear wheels; or the void may comprise a fishbone (diagonal) void 11172 or a vertical void (e.g., where the vehicle 11110 is parked at one end).

As a result of method 11400, the vehicle may be more advantageously located or configured after the defined maneuver is performed. It will also be appreciated that embodiments of the invention are not limited to the usefulness associated with defining manipulations. Even while driving by a human driver, it may be useful to provide or determine a transition phase when control may be transferred between the user and the controller. For example, in particular, in the case where the mode in which the defined manipulation is performed may be changed during the execution of the defined manipulation, it may be useful that the transition stage has been recognized before the mode change.

Twelfth technique

Fig. 67a and 67b show a vehicle 12110 according to an embodiment of the invention in two example scenarios. In fig. 67a and 67b, the vehicle 12110 is shown with a vehicle forward direction indicated by arrow 12114, which is shown parallel to the central longitudinal axis 1212 of the vehicle 12110. In the illustrated scenario, vehicle 12110 is shown in a user-initiated maneuver ending position. In fig. 67a, vehicle 12110 is shown in a user-initiated maneuver ending position, where the user-initiated maneuver is a maneuver that attempts to exit vacancy 12172 with a pickup maneuver. In fig. 67b, vehicle 12110 is shown in a user-initiated maneuver ending position, where the user-initiated maneuver is a maneuver that attempts to enter void 12172 with a parking maneuver. In each of the scenarios shown in fig. 67a and 67b, the user-initiated maneuver ending location may not correspond to the location at which the user desires the vehicle to be finally positioned. It may be difficult or undesirable for the user to further perform any user-initiated manipulations from the positions shown in fig. 67a and 67 b. Similarly, the user may not wish to reposition the vehicle to a predetermined or prescribed defined maneuver starting location where the defined maneuver is performed.

Embodiments of the present invention aim to ameliorate such problems.

In the particular scenario illustrated in FIG. 67a, it may be desirable to perform a defined maneuver to drive vehicle 12110 out of the empty space 12172 to a defined maneuver completion location. In the particular scenario illustrated in fig. 67b, it may be desirable to perform a defined maneuver to park vehicle 12110 in a defined maneuver complete position within void 12172.

It will be appreciated that in the scenario illustrated in fig. 67a and 67b, the user-initiated manipulation end position may correspond to a defined manipulation start position. The defined maneuver performed from the positions of fig. 67a and 67b may be a maneuver of the vehicle 12110 performed automatically by the vehicle 12110, i.e., under control of one or more systems of the vehicle 12110. This defined maneuver may be considered to be performed automatically by vehicle 12110, or at least semi-autonomously. As shown, in fig. 67a, the defined maneuver may be a pickup maneuver that controls the vehicle 12110 to exit the park position. As shown, in fig. 67b, the defined maneuver may be a parking maneuver that controls the vehicle 12110 to move into a parking position.

As will be further explained, it may be advantageous to perform at least a portion of the defined maneuver while a person controlling the vehicle 12110 is outside of the vehicle 12110. For example, in fig. 67b, egress from the vehicle 12110 may be restricted after performing or at least completing the restricted maneuver.

To perform the defined maneuver, the vehicle 12110 includes an environment sensing device for determining the location of the features 12125, 12140, 12150 in the vicinity of the vehicle 12110. The environment sensing device may include one or more sensing devices or imaging devices. While one or more sensing devices, such as ultrasonic sensing devices, may emit radiation and receive radiation reflected from features in the vicinity of the vehicle, it will be understood that the invention is not limited in this respect. Such an environmental sensing device has a minimum distance at which the exact location of the feature 12125 can be determined due to, for example, the resolution of the imaging device or the signal-to-noise ratio of the sensing device.

In the particular example shown here, vehicle 12110 includes a portion of an environment sensing device in vehicle movable protrusion 12182 or on vehicle movable protrusion 12182. For example, each side or rear view mirror of vehicle 12110 may have a camera device or the like mounted thereto or mounted thereon.

Fig. 68 shows a controller 12200 or a control unit 12200 in a vehicle 12110, for example, included in fig. 67(a) and 67(b), according to an embodiment of the present invention.

The controller 12200 includes a control device 12210, an input device 12230, and an output device 12240. In some embodiments, the controller includes a storage device 12220, such as one or more storage devices 12220 for storing data therein. The output device 12240 may include an electrical output for outputting the steering signal. The steering signals represent commands for movement of the vehicle 12110. The instructions provided by the maneuver signals are provided to cause the vehicle 12110 to perform defined maneuvers. Here, the input device 12230 is used to receive environmental signals indicative of features 12125, 12140, 12150 in the vicinity of the vehicle 12110. The control device 12210 is arranged to control the output device 12240 in dependence of the ambient signal to cause the vehicle 12110 to perform at least part of the defined manoeuvre. Here, the controller 12200 includes a second output in the form of a notification output device for outputting a notification signal for notifying the user of the possibility of performing the limited manipulation.

The control device 12210 may be formed by one or more electronic processing devices, such as an electronic processor. The processor may be operable to execute computer readable instructions stored in the one or more storage devices 12220. As will be explained, the control device 12210 is arranged to control the output device 12240 to output the steering signal in dependence on the ambient signal. In some embodiments, the input device 12230 and the output device 12240 may be combined, for example, by being formed of I/O units or interface units. For example, the control device 12200 may include an interface to a network for forming a communication bus of the 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 device 12230 may include an electrical input for receiving an ambient signal. The input device 12230 may include an electrical input for receiving a request signal. Here, the request signal indicates a signal received wirelessly, which represents a user request for movement of the vehicle 12110.

As shown here, the storage device 12220 may be used to store data from the input device 12230. For example, the storage device may store data regarding the features 12125, 12140, 12150 or the slots 12172 for future use. For example, where an occupant or user of vehicle 110 has actively selected (e.g., by entering one or more parameter inputs) or implicitly shown (e.g., by repeated behavior or usage patterns) a preference to perform a defined maneuver for one or more scenarios, the storage device may store data corresponding to the preference to provide default and/or automatic parameters of the defined maneuver in accordance with inputs (e.g., environmental signals and/or location signals, etc.) indicative of such scenarios or similar scenarios for the one or more preferences. For example, when the user repeatedly performs a user-initiated manipulation to a user-initiated manipulation end position before performing a defined manipulation from the user-initiated manipulation end position under a certain scenario, the control means may be arranged to inform the user in advance and/or during the user-initiated manipulation and/or upon completion of the user-initiated manipulation of the possibility to perform the defined manipulation. Alternatively, the control means may be arranged to suppress notification of a possible defined maneuver-for example, where the user may appear to be inclined to initiate the defined maneuver only from the user-initiated maneuver end position, rather than at a position preceding it, then notification of the likelihood of the defined maneuver may be suppressed, for example, until the vehicle is at or near the user-initiated maneuver end position.

The data may be stored prior to and during execution of the defined manipulation for use during execution of the defined manipulation. Additionally or alternatively, the data may be stored for use during subsequent qualification manipulations. For example, where data is stored before or during execution of a user-initiated maneuver to reach the user-initiated maneuver ending position in FIG. 67a or 67b or the defined maneuver completing position in either FIG. 71a or 71b, then the stored data may be used for or during a subsequent defined maneuver, such as a pickup maneuver from the defined maneuver completing position in FIG. 71 b. Where the stored data, such as features 12125, 12140, 12150, is used to perform at least a portion of the defined manipulation, the controller 12200 may perform checks, such as on the validity or continued validity of the data. For example, the controller 12200 can validate the data with another input, such as with a later input from an environment sensing device, or an input from another portion of the environment sensing device (e.g., another sensor or camera located in another portion of the vehicle 12110 that can confirm the persistent presence and/or location of one or more features 12125, 12140).

In at least some examples, the control device 12200 can include a second input device for receiving a request signal indicative of a received signal indicative of a user request, e.g., a wirelessly received signal. The user request may be for performing a defined manipulation to a target defined manipulation completion location.

It will be understood that the controller 12200 may be arranged to perform a portion of the defined manoeuvre in a particular mode. For example, a user may initiate a maneuver to perform a first portion of the maneuver by controlling in a first mode, after which the control is in a different mode, wherein the execution mode is variable during a portion of the execution of the defined maneuver (e.g., between an occupant in-vehicle mode and an occupant out-of-vehicle mode).

FIG. 69 illustrates a system 12300 according to an embodiment of the invention. The system 12300 includes the control device 12200 described above and shown in fig. 68.

The system 12300 includes an environment sensing device 12330 for determining environmental information of the vehicle 12110. In particular, the environment sensing device 12330 is configured to determine the location of one or more features in the vicinity of the vehicle 12110. In at least some examples, a portion of the environment sensing device is in communication with one or more movable protrusions 12182, such as one or more sensors or cameras mounted in or on the vehicle rear view mirror. The environment sensing device 12330 is arranged to output an environment signal indicative of the determined characteristic. The environmental signal may be environmental data that may be stored in a memory. The environment sensing means may comprise one or more sensing means, for example imaging means such as camera means, or other sensing means such as lidar, radar, ultrasound, sonar means and the like. The signals output by each sensing device may be used to form a representation of the environment of the vehicle 12110, which is stored in memory for use by other systems of the vehicle 12110.

Here, the environment sensing device 12330 is arranged to determine the location of features such as: surface markings, which may be, for example, painted lines representing the perimeter of a parking port; or objects such as walls, pillars, or other vehicles with respect to which the vehicle needs to be maneuvered. The control means is arranged to determine the absence of a feature, e.g. an obstructive feature, as shown here the spacing between adjacent features 12140, 12150, from the ambient signal. Thus, the control means is arranged to determine a vacancy 12172 in which there is no feature, for example no obstructive feature. In case the void 12172 is large enough, the control means is arranged to determine a vehicle envelope suitable for accommodating the vehicle 12110 in the defined manoeuvre complete position. The vehicle envelope includes a target position adapted to accommodate the vehicle 12110 in a defined maneuver completion position. Thus, the vehicle envelope here includes the target-defined maneuver completion location. In at least this example, the vehicle envelope is determined from one-dimensional characteristics and/or measurements and/or estimates. In particular, here, the envelope of the vehicle is determined from an ambient signal indicating the length, e.g. the unobstructed length between the features 12140, 12150. The unobstructed length is long enough to accommodate the vehicle 12110 in the defined maneuver complete position, where the length is here the spacing between the features 12140, 12150, which is greater than the vehicle length in the defined maneuver complete position. The manipulation may include, for example, parking into a parking position.

The control device 12200 of the system 12300 here comprises a defined manipulation device. The control means are arranged to control the vehicle 12110 to perform at least one defined manoeuvre. The control device 12200 may include a defined maneuver controller for controlling one or more systems of the vehicle 12110 to perform one or more defined maneuvers. The defined maneuvering device may be associated with one or more actuators 12350 of the vehicle 12110. One or more actuators 12350 are provided to effect movement of the vehicle 12110. The actuators may comprise one or more power steering mechanisms arranged to provide steering of the wheels of the vehicle 12110 in accordance with signals received from the control device 12200. The second actuator may comprise a dynamic braking mechanism of the vehicle 12110, which is arranged to actuate a brake of the vehicle in dependence of a signal received from the control device 12200. The third actuator comprises a powertrain of the vehicle. The control device 12200 is arranged to control the steering of the vehicle wheels 12180 with respect to the features 12125. The fourth actuator 12350 includes one or more mechanisms for changing the position of the one or more movable protrusions 12182.

The system 12300 shown here includes a motion control device 12320. The motion control device 12320 may be a motion control unit. The motion control means 12320 is arranged to receive the steering signal output by the control means 12200. Motion control device 12320 is associated with one or more motion units of vehicle 12110, which may form part of a powertrain (not shown) of vehicle 12110. The motion units may include one or more of an internal combustion engine and one or more electric machines of the vehicle 12110. The powertrain is arranged to provide power or torque to cause movement along the longitudinal axis of the vehicle 12110, i.e., forward or reverse movement of the vehicle 12100, in accordance with steering signals received from the control device 12200. The motion control device 12320 is arranged to control the application of torque to one or more wheels of the vehicle 12110 to move the vehicle 12110 along the longitudinal axis of the vehicle, i.e. to move the vehicle in general forward or backward. The torque may comprise a driving torque, i.e. a driving torque applied in a desired direction of movement, e.g. a forward direction of movement. The torque may also include a braking torque, i.e., a braking torque applied to resist the driving torque. In at least some embodiments, both the driving torque and the braking torque can be applied simultaneously to provide low speed movement of the vehicle 12110. The braking torque may also be applied at least partially after the driving torque in order to achieve precise movement of the vehicle 12110. To enable control of steering, the control device 12200 may be in communication with a motion control device 12320. Thus, one or more actuators 12350 may control the direction and movement of the vehicle to perform defined maneuvers. The defined manipulation is performed in accordance with an environmental signal provided by an environmental sensing device 12330.

The one or more defined maneuvers that the vehicle 12110 may perform under the control of the control device 12200 may include a parking maneuver as shown in fig. 71b, wherein the vehicle 12110 is controlled to reach a parking position.

As shown here, the system 12300 includes a receiver device 12310 for receiving a signal 12305. Signal 12305 may be received wirelessly from a mobile device 12390 associated with a person responsible for vehicle 12110. Signal 12305 indicates a user request for vehicle movement of vehicle 12110, as described above. The receiver device 12310 is arranged to output a request signal to the input device 12230 of the control device 12200 as described above. The request signal may be output by the receiver device 12310 to a communication bus of the vehicle 12110, which may communicatively couple the components of the system 12300.

The receiver device 12310 may be in the form of a radio unit 12310. The radio unit 12310 may include a receiver for receiving radio signals 12305 from the mobile device 12390. In some embodiments, the radio unit 12310 may also include a transmitter, or may be a transceiver 12310 configured to receive radio signals 12305 transmitted from the mobile device 390 and transmit signals to the mobile device 12390. Radio 12103 and mobile device 12390 may be arranged to provide a wireless local area network via which two-way communication may occur between radio 12103 and mobile device 12390. For example, radio 12103 may be arranged to communicate with mobile device 12390 via wifi (rtm). In alternative embodiments, other radio communication standards may be used for communication. While in one example communication is provided between the radio unit 12103 and the mobile device 12390 via bluetooth (RTM), other protocols or standards are contemplated.

Mobile device 12390 may be an electronic key fob associated with vehicle 12110, such as may be used to enter vehicle 12110 and activate vehicle 12110 or power up vehicle 12110. In other implementations, the mobile device 12390 may be an electronic device associated with a person responsible for the vehicle 12100, such as a mobile phone, tablet, watch, wearable electronic device, or other computing device associated with the person. Mobile device 12390 is capable of receiving user input indicating that the person wishes to move vehicle 12110. User input may be provided in the form of button or key presses, activation of graphically displayed icons, gestures, or voice commands. Other forms of user input are also contemplated.

Fig. 70 shows a method 12400 according to an embodiment of the invention. Method 12400 is a method of controlling movement of vehicle 12110. The method 12400 may be formed from the control device 12200 and the system 12300 described above with reference to fig. 68 and 69. Method 12400 will be described with reference to fig. 71a and 71b, which correspond to the scenes shown in fig. 67a and 67b, respectively, as an example.

Method 12400 broadly includes the following steps: the user-initiated maneuver is performed 12405, an environmental signal indicative of a feature 12125, 12140, 12150 in proximity of the vehicle 12110 is received 12410 from the environment sensing device 12330, and a likelihood of performing the defined maneuver is determined 12415 from the environmental signal. Thereafter, the user may choose to request that a defined manipulation be performed. Upon receiving the user request 12420, the control device 12220 controls the manipulation output device 12240 to move the vehicle 12110 to a completion position of the defined manipulation. In the example shown in fig. 71a, after the restricting manipulation 12440 is completed, normal driving may be performed. For example, the user may perform a manual control drive to drive the vehicle 110 completely out of the scene in fig. 71 a.

Referring to fig. 70, the illustrated embodiment of method 12400 includes the step of receiving 12410 an environmental signal from an environmental sensing device 12330. The control device 12200 determines 12415 whether the environmental signal indicates one or more characteristics 12125, 12140, 12150 in the vicinity of the vehicle 12110, corresponding to whether the vehicle 12110 can perform the defined maneuver. In at least some examples, the user is notified 12425 of the possibility to perform the defined manipulation, thereby explicitly alerting the user of the availability of the control transfer. Here, the control device 12210 is arranged to control the notification output device to output the notification signal independently of a user request for manipulation of the output device 12240 to be controlled by the control device 12210. In at least some examples, the controller 12200 is configured to automatically output the notification signal without activation of the control device 12210 by a vehicle user. In at least some scenarios, the user may not otherwise be aware of the likelihood of performing a defined manipulation, such that allowing the notification signal to be output independently of the user request may allow the user to be provided with more or more useful possibilities of a defined manipulation (e.g., as compared to a defined manipulation that is only explicitly sought in advance by the user).

In fig. 71a, the vehicle 12110 is shown outside the vacancy 12172 at a defined maneuver completion location, in which case a defined maneuver has been performed in which the vehicle performs a pick-up defined maneuver to exit the vacancy 12172 in multiple trajectory parts to perform the defined maneuver. Vehicle 12110 is shown with respect to a feature 12125 in the vicinity of vehicle 12110. In this example, the feature 12125 is an object that is a wall parallel to the longitudinal axis 12112 of the void 12172. The object is not limited to wall 12125 and may be, for example, a bollard, fence, barrier, or other object at or adjacent to void 12172 or void 12172, e.g., to form a boundary thereof. As shown in fig. 67a and 71a, another feature 12140 in the form of a stationary vehicle is located at one end of the void 12172 toward the rear of the vehicle 12110 as shown in fig. 67 a. As shown in fig. 67a and 71a, another stationary vehicle 12150 is located at the opposite end of the void, in front of the vehicle 110 in the position shown in fig. 67 a.

FIG. 71a shows the vehicle 12110 after a pick-up limit maneuver from the position in FIG. 67a, which is shown in FIG. 67a in phantom lines. The vehicle 12110 is shown as having moved in a reverse direction opposite the forward longitudinal direction 12114, and also in a forward direction 12114, with controlled operation of the steerable wheel 12180 skewing the vehicle 12110 to perform a sequential trajectory portion of a pick-up limited maneuver from the position in fig. 67a to the defined maneuver complete position in fig. 71 a. Thus, the vehicle 12110 may be removed from the void 12172 in fig. 67a and 71 a.

It will be appreciated that in at least some such scenarios, multiple trajectory portions may be required to iteratively move vehicle 12110 out of void 12172. It will be understood that although shown here in plan view, the depicted scene is three-dimensional.

As can be seen in fig. 71a, the vehicle 12110 in the defined maneuver completion position (on the right, outside of the void 12172 as shown in fig. 71 a) is positioned adjacent to the forward-most stationary vehicle 12150 with a gap therebetween. From the defined maneuver completion position of FIG. 71a, the vehicle 12110 may be driven normally, e.g., manually. It will be appreciated that the particular scenario of fig. 71a may correspond to a scenario in which vehicle 12110 in the defined maneuver completion position is properly positioned to normally exit, such as in a traffic direction or flow. For example, the vehicle 12110 may be positioned on a roadway (e.g., in the uk) where the vehicle is traveling on the left-hand side of the roadway such that in the particular scenario shown in fig. 71a, the vehicle 12110 is not directly against oncoming traffic. After the defined maneuver is completed, the user may control or control the vehicle 12110 from the defined maneuver completion location.

Fig. 71b shows the vehicle 12110 after a parking defining maneuver from the position in fig. 67b, which is shown in dashed lines in fig. 71 b. In fig. 71b, the vehicle 12110 is shown in a defined maneuver complete position within the void 12172, in which case a defined maneuver would be performed in which the vehicle performs the in-park defined maneuver to enter the void 12172. Vehicle 12110 is shown with respect to a feature 12125 in the vicinity of vehicle 12110. It will be appreciated that in at least some such scenarios, multiple trajectory portions may be required to iteratively transfer vehicle 12110 to a defined maneuver completion location in void 12172. It will also be appreciated that the defined manipulations performed may include correcting or undoing at least some of the user-initiated manipulations. For example, performing a defined maneuver from the position in fig. 67b to the position in fig. 71b may include moving the vehicle 12110 completely away from the vacant position 12172 (e.g., to a defined maneuver intermediate position similar to the defined maneuver complete position of fig. 71 a) during the parking defined maneuver shown in fig. 71 b. While shown in fig. 67b as only partially in the designated parking space and void 12172, it will also be understood that vehicle 12110 may be fully positioned, or at least more fully positioned, in the designated parking space and void 12172. For example, the user may position the vehicle 12110 in the void 12172, with the defined maneuver effectively "grooming" the final parked position of the vehicle 12110 (e.g., to the solid line position of fig. 71 b). In at least some examples, such consolidation may be performed with the user outside of the vehicle 110, such as retrospectively. Thus, the user may position the vehicle 12110 in the void 12172, partially in the void 12172, or near the void 12172 as desired or rough, with the controller 12200 utilizing the output device 12230 controlled by the control device 12210 to effectively complete the parking maneuver as a defined maneuver.

Thus, the user-initiated manipulation to the end position in fig. 67a and 67b has continued as a defined manipulation to the defined manipulation-completed position in fig. 71a and 71b, respectively.

In at least some examples, the user may request a defined manipulation execution by explicit selection or by performing one or more predetermined actions, for example selected from one or more of: touching the steering wheel or placing a hand on the steering wheel; the accelerator control is activated (e.g., the pedal is depressed).

The controller 12200 may be arranged to inform and/or define a trajectory for performing a defined manipulation in dependence of an environment signal, e.g. the properties of the slot 12172 and/or the features 12125, 12140, 12150. For example, the controller 12200 can be arranged to inform and/or define a trajectory based on the size of the void 12172, the location or proximity of adjacent objects 12140, 12150, or other parameters associated with the void 12172. Additionally or alternatively, the controller 12200 may be arranged to inform and/or define the trajectory in dependence of other parameters, such as one or more of: ambient environmental conditions (e.g., rain, temperature, light, darkness, time of day, day of week, etc.); terrain conditions (e.g., road surface conditions, off-road surface conditions, grade, etc.); one or more locations of a plurality of vehicle occupants, such as the location of each vehicle occupant.

The control device 12200 may be arranged to allow user adaptation. For example, a user may be able to at least partially override, program, or adjust the control device 12200 for one or more of: defining parameters of the maneuver; scenarios in which manipulations or at least notifications thereof are suppressed are defined; one or more available modes; one or more inputs for determining an available mode; selection means for selecting a mode. The control device 12200 may be arranged to be manually overridden, programmed or adjusted, for example to adjust the output of the steering signals and/or notification signals. Additionally or alternatively, the control device 12200 may be arranged to automatically or semi-automatically override, program or adjust the output of the steering signals and/or notification signals, e.g. by learning from user actions, such as repetitive user actions, associated with one or more of the input pattern, the geographical location, the user identity (e.g. in case multiple users do not use the vehicle 12110 at the same time). For example, when occupant 12195 is located at a particular location (e.g., relative to vehicle 12110), or when vehicle 12110 is located at a particular location, such as a home or garage, where the user has previously performed a defined maneuver to exit from a known vacancy, control device 12200 may be arranged to automatically select a default mode or parameter.

It will be appreciated that other defined manipulations than those illustrated may be performed. For example, the defined maneuver may include a pickup maneuver from a vertical parking lot space (in contrast to the parallel, roadside pickup maneuver shown). It will be appreciated that the controller 12200 may be arranged to allow movement of the occupant between the in-vehicle and out-of-vehicle positions during performance of the defined manoeuvre. For example, the controller 12200 may be arranged to allow for a defined interruption or pause of maneuvering, e.g., to allow the occupant 12195 to move into or out of the vehicle 12110 when the vehicle 12110 is stationary. In at least some examples, the vehicle 12110 may have steerable rear wheels; or the void may comprise a fishbone (diagonal) void 12172 or a vertical void (e.g., where vehicle 12110 is parked at one end).

As a result of method 12400, the vehicle may be more advantageously positioned or configured after the defined maneuver is performed. It will also be appreciated that embodiments of the invention are not limited to the usefulness associated with defining manipulations. Even in cases where the user may not request or wish to perform a defined manipulation, it may be useful to inform the user of the possibility of a defined manipulation. For example, notifying the user of such a likelihood may alert the user of the likelihood of performing the user-initiated manipulation along a trajectory similar to the indicated possible defined manipulations.

It is understood that the embodiments of the present invention can be realized in 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, storage devices like ROM, whether erasable or rewritable or not, or in the form of memory, such as, for example, RAM, memory chips, devices or integrated circuits, or on optically or magnetically readable media, such as CDs, DVDs, diskettes or tapes. It will be appreciated that the storage devices and storage media are embodiments of machine-readable storage devices suitable for storing one or more programs which, when executed, implement embodiments of the present invention. Accordingly, embodiments provide a program and a machine readable storage device storing the program, the program comprising code for implementing a system or method as claimed in any appended claims. Furthermore, embodiments of the present invention may be transmitted electronically via any medium, such as a communications signal carried over a wired or wireless connection, and embodiments suitably encompass such medium.

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 limited to the details of any of the 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 only the foregoing embodiments, but also any embodiments that fall within the scope of the claims.

It will be appreciated that the above 12 techniques may be used alone or in combination to provide improvements in handling and parking.

Various aspects and features of these 12 techniques are set forth in the following numbered clauses. Although these terms are listed separately, it will be understood that the terms of the various techniques may be combined.

First technique

1. A controller, comprising:

an input device for receiving an environmental signal indicative of a location of one or more features in proximity to a vehicle;

an output device for outputting a manipulation signal to cause the vehicle to perform a defined manipulation; and

a control device arranged to control the output device, the control device being arranged to provide a mode for performing 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 mode being selectable in dependence on the ambient signal indicative of a vehicle envelope appropriate for the mode.

2. The controller of item 1, wherein the occupant in-vehicle mode corresponds to the environmental signal indicating that the vehicle envelope is suitable for accommodating the vehicle and opening a vehicle orifice member in an accommodated vehicle position; and the occupant in an out-of-vehicle mode corresponding to the ambient signal indicating that the vehicle envelope is suitable for accommodating the vehicle but not suitable for opening a vehicle orifice member in an accommodated vehicle position.

3. The controller of item 2, wherein the control device is arranged to: allowing selection between an in-vehicle mode for the occupant and an out-of-vehicle mode for the occupant when the environmental signal indicates that the vehicle envelope is suitable for accommodating the vehicle and opening the vehicle orifice member in the accommodated vehicle position.

4. A controller according to item 2 or 3, wherein the control means is arranged to: disallowing selection of the occupant in-vehicle mode when the environmental signal indicates that the vehicle envelope is not suitable for opening the vehicle orifice member in the contained vehicle position.

5. The controller of any of claims 2-4, wherein the vehicle envelope includes a size of a parking area and the accommodating vehicle position is a parking position.

6. A controller as claimed in any preceding claim, comprising a second output means for outputting a mode signal indicative of a plurality of selectable modes from which the mode for performing the defined manipulation can be selected by a user in dependence on the mode signal.

7. A controller as claimed in any preceding claim, comprising a second input means for receiving a request signal indicating a user request to select a plurality of modes when the modes are selectable.

8. A controller as claimed in any preceding claim, wherein the control means is arranged to: when the ambient signal indicates that the vehicle envelope is not suitable for performing the defined maneuver, a selectable mode is not provided.

9. The controller of item 8, wherein the control device is arranged to: preventing output of a maneuver signal for causing the vehicle to perform the defined maneuver when the environment signal indicates that the vehicle envelope is not suitable for accommodating the vehicle.

10. The controller of item 8 or 9 when dependent on item 6, wherein the second output device is arranged to: providing a mode signal indicating that no mode is available for selection, the absence of mode being available for selection corresponding to the vehicle envelope being unsuitable for accommodating the vehicle.

11. A controller as claimed in any preceding claim, wherein the control means is arranged to make the selectable mode variable during performance of the defined manoeuvre.

12. A controller as claimed in any preceding claim, wherein the defined manoeuvre is a parking manoeuvre.

13. A system, comprising:

a controller according to any preceding claim arranged to receive the ambient signal and output the steering signal; and

An environment sensing device to determine a location of one or more features in proximity to the vehicle and output the environmental signal indicative of the location.

14. The system of claim 13, comprising an actuator device for receiving the maneuver signal to cause the vehicle to perform the defined maneuver.

15. The system of claim 13 or 14, comprising a receiver device for receiving a signal indicative of a user request for movement of the vehicle and outputting a request signal in dependence thereon.

16. The system of any one of claims 13 to 15, wherein the controller is arranged to: controlling provision of a mode for performing the defined maneuver to the output device in accordance with a presence of an occupant in the vehicle.

17. A method of controlling movement of a vehicle to perform a defined maneuver, the method comprising:

receiving an environmental signal indicative of a location of one or more features in a vicinity of the vehicle;

providing at least one mode for performing the defined manoeuvre in dependence on the ambient signal, the ambient signal being indicative of a vehicle envelope adapted to the mode, 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; and

Outputting a maneuver signal to cause the vehicle to perform at least a portion of the defined maneuver in the selected mode.

18. The method of item 17, comprising classifying the vehicle envelope, the classes comprising at least: adapted to receive the vehicle and to open a vehicle orifice member in a vehicle-receiving position; and a vehicle aperture member adapted to receive the vehicle but not adapted to open in a vehicle receiving position.

19. The method of claim 18, wherein the occupant in-vehicle mode corresponds to a category adapted to accommodate the vehicle and to open a vehicle orifice member in an accommodated vehicle position; and the occupant in the out-of-vehicle mode corresponds to a category adapted to accommodate the vehicle but not adapted to open the vehicle orifice member in an accommodated vehicle position.

20. A method according to any one of claims 17 to 19, comprising classifying the vehicle envelope as one or more of: for all occupants in the vehicle; adapted for at least one occupant in the vehicle; adapted to being free of members in said vehicle.

21. The method of any of claims 17 to 20, wherein at least a portion of the defined manipulation comprises one or more of: initiation of the defined manipulation; completion of the defined manipulation; and an entirety of said defined manipulation;

22. The method of any of claims 17 to 21, comprising providing a user with a selectability of the mode.

23. The method of any of claims 17 to 22, comprising automatically selecting a default mode.

24. A vehicle comprising a controller according to any of claims 1 to 12, comprising a system according to any of claims 13 to 16, or arranged to perform a method according to any of claims 17 to 23.

25. Computer software, the computer software being arranged to: optionally stored on a computer-readable non-transitory medium, that when executed by a processing device performs the method of any of items 17-23.

Second technique

1. A controller, comprising:

an environment input device for receiving an environment signal indicative of a location of at least one feature in proximity to the vehicle;

a control device arranged to:

determining an orientation of the vehicle defining a maneuver completion location based on the environmental signal; and

an output device for outputting a possible defined manipulation completion position signal depending on the determined orientation.

2. The controller according to item 1, wherein the controller includes a notification output device for outputting a notification signal indicating the possible defined manipulation completion position signal.

3. The controller according to item 1 or 2, wherein the control device is arranged to: determining an orientation of the defined maneuver completion location based on the environmental signal indicative of the orientation of the at least one feature in the vicinity of the vehicle.

4. A controller according to item 3 wherein the control means is arranged to determine the orientation defining the manoeuvre completion position to be aligned relative to the at least one feature in the vicinity of the vehicle.

5. The controller of item 4, wherein the control device is arranged to determine the orientation defining the maneuver completion location to be parallel to the at least one feature in the vicinity of the vehicle.

6. The controller of item 4, wherein the control device is arranged to determine the orientation defining the maneuver completion location to be perpendicular to the at least one feature in the vicinity of the vehicle.

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

8. A controller as claimed in any preceding claim, wherein the control means is arranged to: determining an orientation of a plurality of possible defined maneuver completion locations of the vehicle from the environmental signal.

9. The controller of item 8, wherein the control device is arranged to: notifying a vehicle user of the plurality of possible orientations defining the maneuver completion location.

10. The controller according to any one of the preceding claims, comprising an output device for outputting a manipulation signal to cause the vehicle to perform a defined manipulation to the defined manipulation completion position; wherein the control device is arranged to control the output device to output the steering signal.

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

12. A controller as claimed in any preceding claim, wherein the control means is arranged to: determining an orientation of the defined maneuver completion location based on the location of the vehicle.

13. A controller as claimed in any preceding claim, comprising memory means for storing data therein, the control means being arranged to determine an orientation of the defined manipulation completion location from the data.

14. A system, comprising:

A controller according to any preceding claim arranged to output the possible defined manoeuvre complete position signal; and

a notification output device for notifying the vehicle user of the possible restricted manipulation completion position.

15. The system of item 14, comprising an environment sensing device for determining a location of the at least one feature in the vicinity of the vehicle and for outputting the environmental signal.

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

17. The system according to any one of claims 14 to 16, wherein the notification output device is arranged to output a notification signal for a visual notification and/or an audio notification, the notification signal being indicative of the possible defined manipulation completion location.

18. A method of determining an orientation of a vehicle defining a maneuver completion location, the method comprising:

receiving an environmental signal indicative of a location of at least one feature in proximity to the vehicle;

determining, with a control device, an orientation of the defined maneuver completion location of the vehicle based on the environmental signal; and

A possible defined maneuver completion position signal is output based on the determined orientation.

19. The method of item 18, comprising outputting a notification signal indicative of the possible defined maneuver completion position signal.

20. The method of item 18 or 19, comprising: determining, with the control device, an orientation of the defined maneuver completion location based on the environmental signal indicative of the orientation of the at least one feature in the vicinity of the vehicle.

21. The method of any of claims 18 to 20, comprising determining an orientation of the defined maneuver completion location to align relative to the at least one feature in the vicinity of the vehicle.

22. The method of item 21, wherein the at least one characteristic in the vicinity of the vehicle includes at least one other vehicle in the vicinity of the vehicle.

23. A method according to any of claims 18 to 22, comprising determining from the environmental signals an orientation of a plurality of possible defined maneuver completion positions of the vehicle; and notifying a vehicle user of the plurality of possible orientations defining the maneuver completion location.

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

25. Computer software, the computer software being arranged to: optionally stored on a computer-readable non-transitory medium, that when executed by a processing device performs the method of any of items 18-23.

Third technique

1. A controller, comprising:

an input device for receiving an environmental signal indicative of a location of one or more features in proximity to a vehicle;

an output device for outputting a steering signal to cause the vehicle to perform a defined steering to a completion position; and

control means arranged to control the output means in dependence on the ambient signal to angularly offset the wheel in the finished position relative to a feature in the vicinity of the vehicle.

2. A controller as claimed in claim 1, wherein the one or more features comprises a curb, and the control means is arranged to control the output means to angularly offset the wheel in the finished position towards the curb.

3. A controller according to item 1 or 2, wherein the control means is arranged to control the output means to angularly offset the wheel in the finished position relative to the feature in the vicinity of the vehicle by a predetermined offset angle.

4. A controller as claimed in any preceding claim, wherein the control means is arranged to control the output means to cause the vehicle to have a fastened wheel configuration when the defined manoeuvre is completed.

5. A controller as claimed in any preceding claim, wherein the control means is arranged to control the output means to angularly offset the wheel in the finished position relative to the feature in the vicinity of the vehicle in dependence on the inclination of the vehicle.

6. A controller as claimed in any preceding claim, wherein the controller comprises a second input device for receiving a request signal indicative of a received signal indicative of a user request.

7. A controller as claimed in any preceding claim, wherein the defined manoeuvre is a parking manoeuvre.

8. A system, comprising:

a controller according to any preceding claim arranged to receive the ambient signal and output the steering signal;

an environment sensing device for determining a location of one or more features in the vicinity of the vehicle and outputting the environmental signal indicative of the location; and

actuator means for receiving said maneuver signal to cause said vehicle to perform said defined maneuver to said finish position if said wheel in said finish position is angularly offset relative to said feature in the vicinity of said vehicle.

9. The system of claim 8, wherein the controller is arranged to control the output device to rotationally offset the steering wheel relative to a neutral position of the steering wheel, thereby indicating to a user that the wheel is angularly offset.

10. The system of item 8 or 9, comprising:

receiver means for receiving a signal indicative of a user's request for movement of the vehicle and outputting a request signal in dependence on the signal.

11. A system according to any one of claims 7 to 10 wherein the controller is arranged to control the output device in dependence on the position of the vehicle to selectively angularly offset the wheel in the finished position relative to the feature in the vicinity of the vehicle.

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

receiving an environmental signal indicative of a location of one or more features in a vicinity of the vehicle; and

controlling an output device in dependence on the environmental signal such that a wheel is angularly offset relative to a feature in the vicinity of the vehicle in the defined manoeuvre completing position.

13. The method of claim 12, wherein the one or more features includes a curb, and the method includes angularly offsetting the wheel toward the curb in the completion position of the defined maneuver.

14. The method of item 12 or 13, comprising receiving a signal from a mobile device indicating a user request to perform the defined manipulation.

15. A method as claimed in any one of claims 12 to 14, wherein the method comprises determining the location of the one or more features using an environment sensing device.

16. A vehicle comprising a controller according to any of claims 1 to 7, or a system according to any of claims 8 to 11, or a vehicle arranged to perform a method according to any of claims 12 to 15.

17. Computer software arranged to perform the method according to any one of items 12 to 15 when executed by a processing device.

18. The computer software of item 17, stored on a computer-readable non-transitory medium.

Fourth technique

1. A controller, comprising:

an input device for receiving an environmental condition signal indicative of an environmental condition in the vicinity of the vehicle;

an output device for outputting a manipulation signal to cause the vehicle to perform a defined manipulation; and

a control device arranged to control the output device to cause the vehicle to perform at least part of the defined manoeuvre in dependence on the ambient condition signal.

2. The controller according to item 1, wherein the control device is arranged to control the output device to cause the vehicle to perform at least part of the defined manoeuvre in accordance with a vehicle movement control attribute determined from the ambient condition signal.

3. The controller of item 2, wherein the vehicle movement control attribute comprises a speed parameter.

4. A controller according to item 2 or 3, wherein the control means is arranged to: selecting the vehicle movement control attribute according to the classification of the environmental condition.

5. A controller as claimed in any of claims 2 to 4, wherein the speed parameter is indicative of an acceleration of the vehicle, and/or wherein the speed parameter is indicative of a jerk of the vehicle, and/or wherein the speed parameter comprises a maximum speed parameter.

6. The controller of clause 5, wherein, when the speed parameter includes a maximum speed parameter, the maximum speed parameter in the vehicle movement control attribute corresponding to the first environmental condition is less than the maximum speed parameter in the vehicle movement control attribute corresponding to the second environmental condition.

7. A controller as claimed in any of claims 2 to 6, wherein the movement control attribute is dependent on terrain in the vicinity of the vehicle.

8. A controller as claimed in any preceding claim, wherein the controller comprises a second input device for receiving a request signal indicative of a received signal indicative of a user request.

9. A controller as claimed in any preceding claim, wherein the defined manoeuvre is a parking manoeuvre.

10. A system, comprising:

a controller according to any preceding claim, the controller being arranged to receive the ambient condition signal and to output the manipulation signal; and

actuator means for receiving said maneuver signal to cause said vehicle to perform said defined maneuver in accordance with said ambient condition signal.

11. The system of item 10, comprising:

an environmental condition sensing device for determining one or more environmental conditions in the vicinity of the vehicle and outputting the environmental condition signal indicative thereof.

12. The system of item 10 or 11, comprising:

an environment sensing device to determine a location of one or more features in proximity to the vehicle and output an environmental signal indicative of the location.

13. A system according to any one of claims 10 to 12, wherein the control means is arranged to control the output means to cause the vehicle to perform at least part of the defined manoeuvre in accordance with a vehicle movement control attribute determined in dependence on the ambient condition signal.

14. The system of item 13 when dependent on item 12, wherein the controller is arranged to select the vehicle movement control attribute in dependence on the one or more characteristics.

15. The system of claim 13 or 14, wherein the controller is arranged to select the vehicle movement control attribute in dependence on a position of the vehicle.

16. The system of any one of claims 13 to 15, wherein the controller is arranged to: selecting the vehicle movement control attribute for performing the defined maneuver according to a driving mode of the vehicle.

17. The system of any one of claims 13 to 16, wherein the controller is arranged to: selecting the vehicle movement control attribute for performing the defined maneuver according to a presence of an occupant in the vehicle.

18. The system of any of items 10 to 17, comprising:

receiver means for receiving a signal indicative of a user's request for movement of the vehicle and outputting a request signal in dependence on the signal.

19. A system according to any one of claims 10 to 18, wherein the controller is arranged to receive a terrain signal indicative of at least one terrain in the vicinity of the vehicle, and the controller is arranged to select the vehicle movement control attribute for performing the defined manoeuvre in dependence on the terrain signal.

20. A method of controlling movement of a vehicle to perform a defined maneuver, the method comprising:

receiving an environmental condition signal indicative of an environmental condition in the vicinity of the vehicle; and

controlling an output device in accordance with the environmental condition signal such that at least a portion of the defined maneuver is performed in accordance with the environmental condition in the vicinity of the vehicle.

21. The method of clause 20, wherein the output device is controlled in accordance with the environmental condition signal such that at least a portion of the defined manoeuvre is performed in accordance with a vehicle movement control attribute that is dependent on the environmental condition in the vicinity of the vehicle.

22. The method of item 21, comprising selecting the vehicle movement control attribute as a function of a driving mode of the vehicle.

23. The method of item 21 or 22, comprising selecting the vehicle movement control attribute in dependence on the presence of a user in the vehicle.

24. A vehicle comprising a controller according to any of claims 1 to 9, or a system according to any of claims 10 to 19, or a vehicle arranged to perform a method according to any of claims 20 to 23.

25. Computer software, the computer software being arranged to: optionally stored on a computer-readable non-transitory medium, that when executed by a processing device performs the method of any of items 20-23.

Fifth technique

1. A controller, comprising:

an input device for receiving an environmental signal indicative of a location of one or more features in proximity to a vehicle;

an output device for outputting a manipulation signal to cause the vehicle to perform a defined manipulation; and

a control device arranged to control the output device to cause the vehicle to perform the defined maneuver, the control device being arranged to control the output device to vary a position of a movable projection of the vehicle during the defined maneuver in accordance with the environmental signal.

2. The controller of item 1, wherein the input device is arranged to: receiving the environmental signal from an environmental sensing device associated with the movable protrusion of the vehicle.

3. A controller according to item 1 or 2, wherein the controller comprises a memory device for storing data therein, the memory device being arranged to: storing data received via the input device prior to changing the position of the movable protrusion of the vehicle.

4. A controller according to item 3, wherein the control means is arranged to: controlling the output device according to the data stored in the memory device.

5. A controller according to item 4, wherein the control means is arranged to control the output means to cause the movable projection of a mirror to change during the defined manoeuvre in dependence on the data stored in the memory means.

6. A controller as claimed in any preceding claim, wherein the defined manoeuvre is a parking manoeuvre.

7. The controller of item 6, wherein the control device is arranged to control the output device to reconfigure the mirror from the deployed position of the movable projection of the vehicle to the folded position of the movable projection of the vehicle during a parking limit maneuver.

8. A controller according to claim 6 or 7, wherein the control means is arranged to control the output means to reconfigure the movable projection of the vehicle from a folded position of the movable projection of the vehicle to an unfolded position of the movable projection of the vehicle during a pick-up defining maneuver.

9. A controller as claimed in any preceding claim, wherein the control means is arranged to control the output means to vary the position of the movable projection of the vehicle during the defined manoeuvre in dependence on the ambient signal indicative of a feature at a position of the vehicle proximate to a projected vehicle trajectory.

10. A controller as claimed in any preceding claim, wherein the controller comprises a second input device for receiving a request signal indicative of a wirelessly received signal indicative of a user request.

11. A system, comprising:

a controller according to any preceding claim arranged to receive the ambient signal and output the steering signal;

an environment sensing device to determine a location of one or more features in proximity to the vehicle and output the environmental signal indicative of the location.

12. The system of claim 11, comprising an actuator device for receiving the maneuver signal to cause the vehicle to perform the defined maneuver.

13. The system of claim 11 or 12, comprising a receiver device for receiving a signal from a user indicative of a user's request for movement of the vehicle and outputting a request signal in dependence on the signal.

14. A system according to any one of claims 11 to 13, wherein the controller is arranged to control the output means for performing the defined manoeuvre in dependence on the presence of an occupant in the vehicle.

15. A method of controlling movement of a vehicle to perform a defined maneuver, the method comprising:

Receiving an environmental signal indicative of a location of one or more features in a vicinity of the vehicle; and

controlling an output device in accordance with the environmental signal such that a movable projection of the vehicle is positioned in accordance with the environmental signal during the defined maneuver.

16. The method of item 15, comprising changing a position of the movable projection of the vehicle relative to a feature in the vicinity of the vehicle.

17. A method according to claim 15 or 16, wherein the method comprises determining the location of the one or more features using an environment sensing device and outputting the environment signal from the environment sensing device.

18. The method of clause 17, wherein the environmental sensing device is associated with the movable protrusion of the vehicle.

19. The method of clause 17 or 18, including storing data received from the environment sensing device prior to reconfiguration of the movable projection of the vehicle.

20. The method of item 19, comprising controlling the output device according to the stored data.

21. The method of item 20, comprising controlling the output device in accordance with the stored data to perform the defined manipulation in accordance with the stored data.

22. The method of claim 20 or 21, comprising controlling the output device in accordance with the stored data to configure the movable projection of the vehicle in accordance with the stored data during the defined maneuver.

23. The method of any of claims 15-22, comprising reconfiguring the movable projection of the vehicle between a deployed position and a folded position during the defined maneuver.

24. A vehicle comprising a controller according to any of claims 1 to 10, or a system according to any of claims 11 to 14, or a vehicle arranged to perform a method according to any of claims 15 to 23.

25. Computer software, the computer software being arranged to: optionally, when stored on a computer-readable non-transitory medium, when executed by a processing device, implement the method of any of items 15-23.

Sixth technique

1. A controller, comprising:

an input device for receiving a terrain signal indicative of terrain in the vicinity of the vehicle;

an output device for outputting a manipulation signal to cause the vehicle to perform a defined manipulation; and

a control device arranged to control the output device in dependence on the terrain signal.

2. The controller of item 1, wherein the control device is arranged to: causing the vehicle to perform at least a portion of the defined maneuver in accordance with the vehicle movement control attribute determined from the terrain signal.

3. A controller according to item 2, wherein the vehicle movement control attribute comprises a speed parameter, and the control means is arranged to select the vehicle movement control attribute corresponding to a category of terrain.

4. The controller of clause 3, wherein the speed parameter is indicative of an acceleration of the vehicle.

5. The controller of clause 3 or 4, wherein the speed parameter is indicative of a jerk of the vehicle.

6. The controller of any of items 3 to 5, wherein the speed parameter comprises a maximum speed parameter.

7. The controller of item 6, wherein the maximum speed parameter in the vehicle movement control attribute corresponding to off-road terrain is less than the maximum speed parameter in the vehicle movement control attribute corresponding to road terrain.

8. The controller of any of claims 2 to 7, wherein the movement control attribute is dependent on at least one environmental condition in the vicinity of the vehicle.

9. A controller as claimed in any preceding claim, wherein the controller comprises a second input device for receiving a request signal indicative of a received signal indicative of a user request.

10. A controller as claimed in any preceding claim, wherein the defined manoeuvre is a parking manoeuvre.

11. A system, comprising:

a controller according to any preceding claim arranged to receive the terrain signal and output the steering signal; and

actuator means for receiving said maneuver signal to cause said vehicle to perform said defined maneuver in accordance with said terrain signal.

12. The system of item 11, comprising:

a terrain sensing device for determining terrain in the vicinity of the vehicle and outputting the terrain signal indicative of the terrain.

13. The system of item 11 or 12, comprising:

an environment sensing device to determine a location of one or more features in proximity to the vehicle and output an environmental signal indicative of the location.

14. The system of any one of claims 11 to 13, wherein the control device is arranged to: controlling the output device to cause the vehicle to perform at least a portion of the defined maneuver in accordance with the vehicle movement control attribute determined from the terrain signal.

15. The system of item 14 when dependent on item 13, wherein the controller is arranged to select a vehicle movement attribute in dependence on the one or more characteristics.

16. The system of claim 14 or 15, wherein the controller is arranged to select the vehicle movement control attribute in dependence on a position of the vehicle.

17. The system of any one of claims 14 to 16, wherein the controller is arranged to: selecting the vehicle movement control attribute for performing the defined maneuver according to a driving mode of the vehicle.

18. The system of any one of claims 14 to 17, wherein the controller is arranged to: selecting the vehicle movement control attribute for performing the defined maneuver according to a presence of an occupant in the vehicle.

19. The system of any one of claims 14 to 18, wherein the controller is arranged to receive an environmental condition signal indicative of at least one environmental condition in the vicinity of the vehicle; and the controller is arranged to: selecting the vehicle movement control attribute for performing the defined maneuver as a function of the environmental condition signal.

20. The system of any of claims 11 to 19, comprising:

Receiver means for receiving a signal indicative of a user's request for movement of the vehicle and outputting a request signal in dependence on the signal.

21. A method of controlling movement of a vehicle to perform a defined maneuver, the method comprising:

receiving a terrain signal indicative of terrain in the vicinity of the vehicle; and

controlling an output device in dependence on the terrain signal such that at least a portion of the defined manoeuvre is performed in dependence on terrain in the vicinity of the vehicle.

22. A method according to item 21, wherein the output device is controlled in dependence on the terrain signal such that at least part of the defined manoeuvre is performed in dependence on a vehicle movement control attribute which is dependent on terrain in the vicinity of the vehicle.

23. The method of item 22, comprising selecting the vehicle movement control attribute in dependence on a vehicle driving pattern and/or in dependence on the presence of an occupant in the vehicle; and/or determining an environmental condition in the vicinity of the vehicle and selecting the vehicle movement control attribute in dependence on the environmental condition.

24. A vehicle comprising a controller according to any of claims 1 to 10, or a system according to any of claims 11 to 20, or a vehicle arranged to perform a method according to any of claims 21 to 23.

25. Computer software, the computer software being arranged to: optionally stored on a computer-readable non-transitory medium, that when executed by a processing device performs the method of any of items 21-23.

Seventh technique

1. A controller, comprising:

an input device for receiving an environmental signal indicative of a location of one or more features in proximity to a vehicle;

an output device for outputting a manipulation signal to cause the vehicle to perform a defined manipulation to a defined manipulation completion position; and

a control device arranged to control the output device to cause the vehicle to perform the defined maneuver, the control device being arranged to determine a planned trajectory to perform the defined maneuver within a number of trajectory parts to reach the defined maneuver complete position within a defined maneuver complete position tolerance range relative to features in the vicinity of the vehicle, wherein the control device is arranged to determine the defined maneuver complete position tolerance range from the environmental signals.

2. The controller of item 1, wherein the control device is arranged to: determining the number of track portions according to the defined maneuver completion position tolerance range.

3. A controller as claimed in any preceding claim, wherein the control means is arranged to inversely relate the number of track portions to the defined manoeuvre completion position tolerance range such that: the defined manipulation is limited to a smaller number of trajectory parts when the defined manipulation completion position tolerance range is larger, and the defined manipulation is limited to a larger number of trajectory parts when the defined manipulation completion position tolerance range is smaller.

4. A controller as claimed in any preceding claim, wherein the control means is arranged to: determining both the defined maneuver completion position tolerance range and the number of trajectory portions from the environmental signal indicative of vehicle envelope parameters for accommodating a vehicle envelope of the vehicle.

5. The controller of item 4, wherein the control device is arranged to: a larger defined maneuver completion position tolerance range is provided for a vehicle envelope having larger vehicle envelope parameters.

6. The controller according to item 4 or 5, wherein the control device is arranged to: for a vehicle envelope having larger vehicle envelope parameters, a smaller number of trajectory parts is provided.

7. A controller as claimed in any preceding claim, wherein the control means is arranged to: determining at least one of the defined maneuver completion location tolerance range and the number of trajectory portions based on a location of a vehicle occupant.

8. A controller as claimed in any preceding claim, wherein the control means is arranged to: determining at least one of the defined manipulation completion position tolerance range and the number of trajectory parts according to a mode for performing the defined manipulation.

9. The controller of any preceding claim, wherein the number of track portions within which the defined manipulation is performed is a maximum number of the track portions.

10. The controller of any preceding claim, wherein the planned trajectory is from a defined maneuver start position to the defined maneuver complete position; and the number of the trajectory parts is the total number of trajectory parts between the defined manipulation start position and the defined manipulation completion position.

11. The controller of any preceding claim, wherein the defining a maneuver completion position tolerance range comprises: at least one of an angular range and a distance range relative to the feature in the vicinity of the vehicle.

12. A controller as claimed in any preceding claim, wherein the control means is arranged to determine each sequential track portion, each sequential track portion being in an opposite longitudinal direction of the vehicle relative to the previous track portion.

13. A controller as claimed in any preceding claim, comprising an input device for receiving a request signal indicative of a received signal indicative of a user request for movement of the vehicle.

14. A controller as claimed in any preceding claim, wherein the defined manoeuvre is a parking manoeuvre.

15. A system, comprising:

a controller according to any preceding claim, the controller being arranged to receive the ambient signal and to output the steering signal;

an environment sensing device arranged to determine a location of the one or more features in the vicinity of the vehicle; and

an actuator device for receiving the maneuver signal to cause the vehicle to perform the defined maneuver.

16. The system of item 15 when dependent on item 13, comprising receiver means for: receiving a signal indicative of the user's request for vehicle movement; and outputting the request signal according to the signal.

17. The system of item 15 or 16, comprising user input means for receiving user input, such that the control means is configured to: determining at least one of the defined maneuver completion position tolerance range and the number of trajectory portions.

18. The system of any one of claims 15 to 17, comprising a position input device for receiving a position input, such that the control device is configured to: determining at least one of the defined maneuver completion location tolerance range and the number of trajectory portions as a function of a location parameter.

19. A method of controlling movement of a vehicle to perform a defined maneuver to a defined maneuver completion location, the method comprising:

receiving an environmental signal indicative of a location of one or more features in a vicinity of the vehicle;

determining a defined steering completion position tolerance range from the environmental signal;

determining a planned trajectory to perform the defined maneuver within a number of trajectory portions to reach the defined maneuver completion location within the defined maneuver completion location tolerance range relative to features proximate the vehicle; and

outputting a manipulation signal to cause the vehicle to perform the defined manipulation.

20. The method of item 19, comprising: determining the number of track portions according to the defined maneuver completion position tolerance range.

21. The method of item 19 or 20, comprising inversely correlating the number of trajectory parts to the defined maneuver completion position tolerance range such that: performing the defined manipulation with a smaller number of trajectory parts when the defined manipulation completion position tolerance range is larger; and restricting the defined manipulation to a larger number of trajectory parts when the defined manipulation completion position tolerance range is smaller.

22. The method of any of items 19 to 21, comprising: determining both the defined maneuver completion position tolerance range and the number of trajectory portions based on the environmental signal indicating that a vehicle envelope parameter for accommodating the vehicle is above a threshold.

23. The method of any of items 19 to 22, comprising: a larger defined maneuver completion position tolerance range is provided for a vehicle envelope having larger vehicle envelope parameters.

24. A vehicle comprising a controller according to any of claims 1 to 14, or a system according to any of claims 15 to 18, or a vehicle arranged to perform a method according to any of claims 19 to 22.

25. Computer software, the computer software being arranged to: optionally stored on a computer-readable non-transitory medium, that when executed by a processing device, performs the method of any of items 19-22.

Eighth technique

1. A controller, comprising:

output means for outputting a manipulation signal to cause the vehicle to perform a defined manipulation; and

a control device arranged to control the output device, the control device being arranged to provide a mode for performing at least part 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 device being arranged to change the mode during the defined manoeuvre.

2. The controller of claim 1, comprising an input device to receive 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 device is to receive a request signal indicating a mode selection.

4. A controller as claimed in any preceding claim, wherein the control means is arranged to enable the mode to be selected in dependence on the position of a vehicle occupant.

5. The controller of item 4, wherein the control device is arranged to: the mode is controlled in accordance with a transition of a vehicle occupant position between an in-vehicle position and an out-of-vehicle position.

6. A controller as claimed in any preceding claim, comprising an ambient input device for receiving an ambient signal indicative of the location of one or more features in the vicinity of the vehicle, wherein the control device is arranged to enable the mode to be selected in dependence on the ambient signal, the ambient signal being indicative of a vehicle envelope appropriate for the mode.

7. A controller as claimed in any preceding claim, wherein the defined manoeuvre is a parking manoeuvre.

8. A system, comprising:

a controller according to any preceding claim, arranged to output the steering signal; and

an actuator device for receiving the maneuver signal to cause the vehicle to perform the defined maneuver.

9. The system of item 8, comprising a receiver device to: receiving a signal indicative of a user's request for movement of the vehicle and outputting a request signal in accordance with the signal.

10. A system according to claim 8 or 9, wherein the controller is arranged to control the provision of a mode in dependence on the position of a vehicle occupant.

11. The system of any one of claims 8 to 10, comprising an environment sensing device 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 maneuver, the method comprising:

providing a mode for performing at least a portion of the defined maneuver, 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 maneuver signal to cause the vehicle to perform at least a portion of the defined maneuver in the selected mode; and

changing the mode during execution of the defined manipulation.

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

14. The method of item 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 item 15, comprising automatically selecting the default mode according to the presence of an occupant in the vehicle.

17. The method of any of items 12 to 15, comprising: receiving an environmental signal indicative of a location of one or more features in a vicinity of the vehicle; and providing a selectable mode based on a characteristic of the vicinity of the vehicle.

18. The method of any of claims 12-17, wherein at least a portion of the defined manipulation includes one or more of: initiation of the defined manipulation; completion of the defined manipulation; and the entirety of said defined manipulation.

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

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

21. Computer software arranged to perform the method according to any one of items 12 to 19 when executed by a processing device.

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

Ninth technique

1. A controller, comprising:

input means for receiving an input signal;

a control device arranged to determine a defined maneuver opportunity for at least a portion of a defined maneuver to be performed by a vehicle;

notification output means for outputting a notification signal; the control device is arranged to control the notification output device to output the notification signal indicative of the determination of the defined manipulation opportunity by the control device;

the control means being arranged to control the notification output means to automatically notify a vehicle user of the control means determination of the defined maneuver opportunity independently of a user request; wherein the control device is arranged to control the notification output device to notify the vehicle user of the defined maneuver opportunity in dependence on the input signal indicative of a vehicle parameter,

a manipulation output device for outputting a manipulation signal to cause the vehicle to perform the limited manipulation; and

a request input device for receiving a request signal indicating a user's request for execution of at least a part of the restricted manipulation, the manipulation output device being controlled by the control device to cause the vehicle to execute the restricted manipulation in accordance with the request signal.

2. The controller of item 1, wherein the vehicle parameter is a non-speed parameter and the vehicle parameter is indicative of at least one of: a state of the vehicle; and a location of the vehicle.

3. The controller according to item 1 or 2, wherein the control device is arranged to control the notification device to output the notification signal indicative of the defined manipulation opportunity without a user activating the controller to determine the defined manipulation opportunity.

4. A controller as claimed in any preceding claim, wherein the control means is arranged to control the notification means to output the notification signal indicative of the determination of the defined manipulation opportunity in dependence on the input signal from the input means, wherein the controller is arranged to receive the input signal from at least one of a plurality of input sources.

5. A controller as claimed in any preceding claim, wherein the control means is arranged to control the notification means to output the notification signal indicative of the determination of the defined manipulation opportunity in dependence on the input signal, wherein the input signal comprises at least one of:

An environmental signal indicative of a location of at least one feature in the vicinity of the vehicle;

a motion signal indicative of motion of the vehicle;

a steering signal indicative of a steering input;

an event signal indicative of a vehicle event; and

a position signal indicative of a position of the vehicle.

6. A controller as claimed in any preceding claim, wherein the defined manoeuvre is a parking manoeuvre.

7. A controller as claimed in any preceding claim, wherein the control means is arranged to control the notification means to output the notification signal in dependence on a determination of a user-initiated manipulation by the control means.

8. A controller as claimed in claim 7, wherein the control means is arranged to transfer control from the user to the control means to continue to perform the user-initiated manipulation as a defined manipulation.

9. A controller as claimed in any preceding claim, wherein the control means is arranged to: determining the opportunity to execute the defined maneuver to a defined maneuver completion location based on the determination of the planned trajectory.

10. A controller as claimed in any preceding claim, wherein the control means is arranged to determine a plurality of opportunities for performing at least part of a defined maneuver, the control means being arranged to control the notification means to output a notification signal to the user of the determination of the plurality of opportunities.

11. A controller as claimed in any preceding claim, comprising memory means for storing data therein, the control means being arranged to control the notification means to output the notification signal indicative of the opportunity in dependence on the data.

12. A controller as claimed in any preceding claim, comprising a user input device for receiving a request signal indicative of a signal received, wired or wirelessly, indicative of a user request for movement of the vehicle.

13. A system, comprising:

a controller according to any preceding claim arranged to output the steering signal; and

an actuator device for receiving the maneuver signal to cause the vehicle to perform the defined maneuver.

14. The system of item 13, comprising an environment sensing device to determine a location of at least one feature in the vicinity of the vehicle.

15. The system of item 14, wherein the environment sensing device is automatically activatable independent of a vehicle speed parameter.

16. The system of claim 14 or 15, wherein the environment sensing device is automatically activatable as a function of the vehicle speed parameter.

17. A method of controlling movement of a vehicle to perform a defined maneuver, the method comprising:

receiving an input signal indicative of a vehicle parameter,

determining, with a control device, a defined maneuver opportunity for at least a portion of a defined maneuver performed by a vehicle;

automatically notifying a vehicle user of the determination of the defined maneuver opportunity for the performance of the defined maneuver by the control device; notifying the vehicle user of the opportunity is in accordance with receipt of the input signal indicative of a vehicle parameter;

receiving a request signal with a maneuver output device controlled by the control device, the request signal indicating a user request for performance of at least a portion of the defined maneuver;

controlling the steering output device with the control device to output a steering signal to cause the vehicle to perform the limited steering.

18. The method of item 17, wherein the vehicle parameter is a non-speed parameter and the vehicle parameter is indicative of at least one of: a state of the vehicle; and a location of the vehicle.

19. The method of item 17 or 18, comprising controlling the notification device to output the notification signal indicative of the opportunity for performance of a portion of the defined manipulation without requiring a user to activate the control device to seek a determination of the opportunity.

20. The method of any of claims 17 to 19, comprising notifying the user of the determination of the opportunity in dependence on receipt of the input signal, and the input signal comprises at least one of:

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

a motion signal indicative of motion of the vehicle;

a steering signal indicative of a user steering input;

an event signal indicative of a vehicle event; and

a position signal indicative of a position of the vehicle.

21. The method of any of claims 18-20, wherein the defined maneuver is a parking maneuver.

22. The method of any of claims 18 to 21, comprising: determining a user-initiated manipulation; and notifying the user of the opportunity in accordance with the determination of the user-initiated manipulation.

23. The method of any of claims 18 to 22, comprising receiving an environmental signal indicative of a location of at least one feature in the vicinity of the vehicle;

detecting a vacancy from the ambient signal, the vacancy comprising a vehicle envelope adapted to accommodate the vehicle in a defined maneuver completion location; and

determining the defined manipulation opportunity based on the detection of the null.

24. A vehicle comprising a controller according to any of claims 1 to 12, or a system according to any of claims 13 to 16, or a vehicle arranged to perform a method according to any of claims 17 to 23.

25. Computer software, the computer software being arranged to: optionally stored on a computer-readable non-transitory medium, that when executed by a processing device performs the method of any of items 17-24.

Tenth technique

1. A controller, comprising:

an environment input device for receiving an environment signal indicative of a location of at least one feature in proximity to the vehicle;

control means arranged to determine a null from the ambient signal; the control means being arranged to define at least one defined manoeuvre completion position for the vehicle within the void;

user input means for receiving a request signal indicative of a user request;

an output device for outputting a manipulation signal to cause the vehicle to perform a limited manipulation to the limited manipulation completion position; wherein the control means is arranged to control the output means to selectively offset the defined manipulation completion position within the void.

2. The controller of item 1, wherein the control device is arranged to: selectively offsetting the defined maneuver completion location based on the request signal.

3. The controller according to item 1 or 2, wherein the control device is arranged to: selectively offsetting the defined maneuver completion position according to a characteristic indicated by the environmental signal.

4. A controller according to item 3, wherein the control means is arranged to: selectively offsetting the defined maneuver completion location based on a proximity of the feature indicated by the environmental signal to the vehicle.

5. The controller of item 4, wherein the control device is arranged to: selectively shifting the defined maneuver completion position toward the feature indicated by the environmental signal.

6. A controller as claimed in any preceding claim, wherein the control means is arranged to define at least two vehicle envelopes within the void, each vehicle envelope comprising a discretely defined manoeuvre completion position offset within the void.

7. The controller of item 6, wherein the two vehicle envelopes do not overlap and extend along respective longitudinal directions that are adjacent and parallel to each other.

8. A controller as claimed in any preceding claim, wherein the control means is arranged to: the defined maneuver completion position is selectively offset based on the presence of the vehicle occupant.

9. A controller as claimed in any preceding claim, comprising memory means for storing data therein, the control means being arranged to selectively offset the defined manipulation completion positions in dependence on the data.

10. A controller as claimed in any preceding claim, wherein the control means is arranged to: adapting the defined maneuver completion location according to the environmental signal, the environmental signal being indicative of a change in at least one characteristic in the vicinity of the vehicle.

11. A controller as claimed in any preceding claim, wherein the defined manoeuvre is a parking manoeuvre.

12. A controller according to any preceding claim, comprising a notification output for outputting a notification signal for notifying a user; the control means is arranged to control the notification output means to notify the user of the determination of the at least one selectable offset-defined manipulation-completion position by the control means.

13. The controller of any preceding claim, wherein the request signal is indicative of a received signal indicative of the user request.

14. A controller as claimed in any preceding claim, wherein the control means is arranged to: selectively offsetting the defined maneuver completion location according to a mode of execution of at least a portion of the defined maneuver.

15. A controller as claimed in any preceding claim, wherein the control means is arranged to vary the magnitude of the offset.

16. A system, comprising:

a controller according to any preceding claim, arranged to output the steering signal; and

an actuator device for receiving the maneuver signal to cause the vehicle to perform the defined maneuver.

17. The system of claim 16, comprising an environment sensing device to determine a location of the at least one feature in the vicinity of the vehicle.

18. The system of claim 16 or 17, comprising receiver means for receiving a signal indicative of the user request and outputting the request signal in dependence on the signal.

19. A method of controlling movement of a vehicle to perform a defined maneuver, the method comprising:

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

determining a null according to the ambient signal;

Defining at least one defined maneuver completion location for the vehicle within the void;

selectively offsetting the defined manipulation completion location within the void; and

outputting a maneuver signal to cause the vehicle to perform the defined maneuver to the defined maneuver completion position.

20. The method of item 19, comprising receiving a request signal indicative of a user request and selectively offsetting the defined manipulation completion location in accordance with the request signal.

21. The method of item 19 or 20, comprising selectively offsetting the defined maneuver completion position according to a characteristic indicated by the environmental signal.

22. The method of any of claims 19 to 21, comprising notifying a user of the determination of the at least one selectable offset defining manipulation completion location.

23. A vehicle comprising a controller according to any of claims 1 to 15, or a system according to any of claims 16 to 18, or a vehicle arranged to perform a method according to any of claims 19 to 22.

24. Computer software arranged to carry out the method according to any one of items 19 to 22 when executed by a processing device.

25. The computer software of item 24, stored on a computer-readable non-transitory medium.

Eleventh technique

1. A controller, comprising:

input means for receiving a user control request signal indicative of a user request for control;

an output device for outputting a manipulation signal to cause the vehicle to perform a limited manipulation to a limited manipulation completion position; and

control means arranged to control the output means to cause the vehicle to perform the defined manoeuvre,

wherein the control means is arranged to determine a transition phase of the defined manoeuvre during which control can be transferred to a user on receipt of the user control request signal to allow the vehicle to transition from the defined manoeuvre to user controlled post-manoeuvre vehicle movement.

2. The controller of item 1, wherein the transition phase is defined between a transition position of the defined maneuver and the defined maneuver complete position, wherein the controller is arranged to allow transfer of control to the user at any point of the transition phase between the transition position and the defined maneuver complete position.

3. A controller as claimed in any preceding claim, comprising a notification output for outputting a notification signal for notifying the user of the start of the transition phase.

4. A controller as claimed in any preceding claim, wherein the control means is arranged to provide a staged transition to user control.

5. A controller as claimed in any preceding claim, wherein the control means is arranged to determine the transition phase such that no change in the direction of lateral movement of the vehicle is required during the transition phase to complete the defined manoeuvre to the defined manoeuvre complete position.

6. A controller as claimed in any preceding claim, comprising an input device for receiving an ambient signal indicative of the location of one or more features in the vicinity of a vehicle; and wherein the control means is arranged to determine the transition phase corresponding to a portion of the defined manoeuvre after a feature in the vicinity of the vehicle has been avoided.

7. A controller as claimed in any preceding claim, wherein the control means is arranged to: overrides at any point including the defined manipulation outside of the transition phase.

8. A controller as claimed in any preceding claim, wherein the control means is arranged to allow transfer of control to the user during the transition phase without interruption of the defined manoeuvre.

9. A controller as claimed in any preceding claim, wherein the control means is arranged to allow control of the output signal to the motion control means to be transferred to the user during at least a motion control portion of the transition phase.

10. A controller as claimed in any preceding claim, wherein the control means is arranged to allow control of the output signal to the steering control means to be transferred to a user during at least a steering control portion of the transition phase.

11. A controller as claimed in any preceding claim, comprising an input device for receiving a request signal indicative of a user request for movement of the vehicle.

12. A controller as claimed in any preceding claim, wherein, without user input during the transition phase, the control means is arranged to: controlling the output device to control the vehicle to perform the defined maneuver to the defined maneuver completion location to subsequently transfer control to the user after completion of the defined maneuver.

13. A system, comprising:

a controller according to any preceding claim, arranged to output the steering signal; and

an actuator device for receiving the maneuver signal to cause the vehicle to perform the defined maneuver.

14. The system of item 13, comprising a user input device to receive a user request for a transfer of control.

15. The system of any of items 13 to 14, comprising a notification device for notifying the user of the start of the transition phase.

16. The system of any of claims 13 to 15, comprising:

receiver means for receiving a signal indicative of a user's request for movement of the vehicle and outputting a request signal in dependence on the signal.

17. The system of any one of claims 13 to 15, comprising an environment sensing device for determining a location of one or more features in the vicinity of the vehicle and outputting the environmental signal indicative of the location.

18. A method of controlling movement of a vehicle to perform a defined maneuver, the method comprising:

controlling an output device with a control device to cause the vehicle to perform the restricted maneuver;

Determining a transition phase of the defined manipulation during which control can be transferred to a user upon receipt of a user control request signal;

in accordance with receipt of the user control request signal during the transition phase, transferring control to the user to allow the vehicle to transition from the defined maneuver to a user-controlled post-maneuver vehicle movement.

19. The method of clause 18, including allowing the vehicle to transition to user control before completing the defined maneuver.

20. The method of item 18 or 19, comprising:

receiving an environmental signal indicative of a location of one or more features in a vicinity of the vehicle;

avoiding features in the vicinity of the vehicle during a pre-transition phase of the defined maneuver; and

initiating the transition phase after avoiding the feature in the vicinity of the vehicle.

21. The method of item 20, comprising determining a location of the one or more features with an environmental sensing device.

22. The method of any of claims 18 to 21, comprising initiating the transition phase when the defined maneuver can be completed without a change in a longitudinal direction of movement of the vehicle.

23. The method of any of claims 18 to 22, comprising receiving a signal from a mobile device indicating a user request to perform the defined manipulation.

24. A vehicle comprising a controller according to any of claims 1 to 12, or a system according to any of claims 13 to 17, or a vehicle arranged to perform a method according to any of claims 18 to 23.

25. Computer software, the computer software being arranged to: optionally stored on a computer-readable non-transitory medium, that when executed by a processing device performs the method of any of items 18-24.

Twelfth technique

1. A controller, comprising:

input means for receiving an input signal;

a manipulation output device for outputting a manipulation signal to cause the vehicle to perform a defined manipulation;

a control device arranged to control the steering output device;

notification output means for outputting a notification signal for notifying a user; and

request input means for receiving a request signal indicative of a user request for transferring control from the user to the control means to continue a user-initiated manipulation as a defined manipulation; the control means is arranged to control the manipulation output means to perform the defined manipulation from an end position of the user-initiated manipulation in accordance with the request signal.

2. The controller of item 1, wherein the control device is arranged to: detecting performance of the user-initiated manipulation as a function of the input signal; and the control means is arranged to control the notification output means to notify the user of the detection of the user-initiated manipulation by the control means.

3. A controller as claimed in claim 2, wherein the control means is arranged to control the notification output means to automatically output the notification signal in respect of detection of the user-initiated manipulation by the control means and to provide continuation of the user as a defined manipulation.

4. A controller according to item 2 or 3, wherein the control means is arranged to control the notification output means to output the notification signal to be controlled by the control means for the manipulation output means independently of a user request.

5. A controller as claimed in any preceding claim, wherein the control means is arranged to: controlling the notification output device in accordance with the input signal received prior to the user-initiated manipulation to an end position of the user-initiated manipulation.

6. A controller as claimed in any preceding claim, wherein the control device is configurable to inhibit the notification output device from notifying a vehicle user of detection of the user-initiated manipulation by the control device.

7. A controller as claimed in any preceding claim, wherein the control means is arranged to control the manoeuvre output means to cause the vehicle to follow a planned trajectory from an end position of the user-initiated manoeuvre to a defined manoeuvre completion position.

8. The controller of clause 7, wherein the planned trajectory includes at least a partial correction to the user-initiated manipulation performed prior to the user request.

9. A controller as claimed in any preceding claim, wherein the defined manoeuvre is a parking manoeuvre.

10. A controller as claimed in any preceding claim, comprising a memory device for storing data therein, the memory device being arranged to store data received via the input device.

11. The controller of item 10, wherein the stored data indicates a previously performed defined manipulation; and the control means is arranged to control the manoeuvre output means to cause the vehicle to selectively perform a repetition of at least part of the previously performed defined manoeuvre.

12. The controller of item 10 or 11, wherein the stored data is indicative of a previously performed defined manipulation; and the control means is arranged to control the manoeuvre output means to cause the vehicle to perform a reversal of at least part of the previously performed defined manoeuvre.

13. The controller of any of claims 10 to 12, wherein the stored data is indicative of a previously performed user-initiated manipulation; and the control means is arranged to control the notification output means to notify the user in accordance with a user-initiated manipulation of the previous performance following the defined manipulation.

14. A controller as claimed in any preceding claim, wherein the input device is arranged to receive a plurality of input signals from a plurality of input sources, the plurality of input signals being selected from at least:

an environmental signal indicative of a feature in the vicinity of the vehicle;

a motion signal indicative of motion of the vehicle;

a turn signal indicating a user turn;

an event signal indicative of a vehicle event; and

a location signal indicating a geographic location.

15. A system, comprising:

a controller according to any preceding claim, arranged to output the steering signal; and

An actuator device for receiving the maneuver signal to cause the vehicle to perform the defined maneuver.

16. The system of item 15, comprising an environment sensing device to determine a location of one or more features in the vicinity of the vehicle.

17. The system of item 15 or 16, comprising a receiver device to:

receiving a user signal indicative of the user request to continue the user-initiated manipulation as the defined manipulation with the manipulation output device controlled by the control device; and

outputting the request signal in accordance with the reception of the user signal.

18. The system of item 17, wherein the receiver means is for wirelessly receiving the user signal from a mobile device.

19. A method of controlling movement of a vehicle to perform a defined maneuver, the method comprising:

performing a user-initiated manipulation to an end position of the user-initiated manipulation;

receiving a request signal indicative of a user request to transfer control from a user to a control device to continue the user-initiated manipulation as a defined manipulation;

Controlling, with the control device, a maneuver output device to output a maneuver signal to cause the vehicle to perform the defined maneuver from an end position of the user-initiated maneuver.

20. The method of item 19, comprising receiving an input signal; and outputting a notification signal for notifying a user.

21. The method of item 20, comprising detecting, with the control device, the user-initiated manipulation as a function of the input signal,

notifying the user of the detection of the user-initiated manipulation by the control device; and providing for transfer of control to the control device to continue the user-initiated manipulation as the defined manipulation.

22. The method of any of claims 19 to 21, comprising allowing the vehicle to resume user control prior to completion of the defined maneuver to a defined maneuver completion location.

23. A method according to any one of claims 19 to 22, comprising determining the location of one or more features in the vicinity of the vehicle using an environment sensing device.

24. The method of any of claims 19 to 23, comprising receiving a signal from a mobile device indicating a user request to perform the defined manipulation.

25. A vehicle comprising a controller according to any of claims 1 to 14, or a system according to any of claims 15 to 18, or a vehicle arranged to perform a method according to any of claims 19 to 24.

26. Computer software, the computer software being arranged to: optionally stored on a computer-readable non-transitory medium, that when executed by a processing device, performs the method of any of items 19-24.