Controller, system, method for determining vehicle orientation, and vehicle thereof

Abstract

Embodiments of the present invention provide a controller (2200), the controller (2200) comprising: an environment input device (2230) for receiving an environment signal indicative of a location of at least one feature in the vicinity of a vehicle; a control device (2210) arranged to determine an orientation of the vehicle defining a maneuver completion position as a function of the ambient signal; and an output device (2240) for outputting a possible defined maneuver completion position signal as a function of the determined orientation in order to determine the orientation defining the maneuver completion position based on the environment, such as indicated by the environment signal, thereby providing an improvement in maneuver and parking. The invention also provides a system and method for determining an orientation of a vehicle defining a maneuver completion position, and a vehicle thereof.

Description

[0001] This application is a divisional application of the patent application for invention with the application date of May 29, 2019, application number 201980047469.1 (PCT / EP2019 / 064074), and invention name "Device and Method for Controlling Vehicle Movement". Technical Field

[0002] The present disclosure relates to controlling the movement of a vehicle, and particularly but not exclusively to controlling the performance of defined maneuvers of a vehicle. Aspects of the invention relate to a controller, a system, a method, a vehicle, and computer software.

[0003] The present disclosure also relates to determining the orientation of the completion position of a vehicle, and particularly but not exclusively to determining the orientation of the completion position of a defined maneuver of a vehicle. Aspects of the invention relate to a controller, a system, a method, a vehicle, and computer software. Background Art

[0004] It is known for a vehicle to perform defined maneuvers, such as automatic or semi-autonomous parking maneuvers. When the owner is ready, for example when the owner is looking for a parking position or is at the parking position, the user typically instructs the vehicle to identify possible defined maneuvers. The vehicle can be instructed, for example remotely via a mobile device, to perform the maneuver at which a user input indicating the maneuver is received at the mobile device.

[0005] The environmental sensing means of the vehicle is used to determine the positions of features near the vehicle, such as but not exclusively signs, walls, posts, other vehicles, etc. The vehicle can then be instructed, for example via a mobile device or other input medium, to move relative to the feature to a parked position. For example, it may be desirable for the vehicle to move into a parking space bounded by the feature. To prevent the vehicle from contacting an object, the environmental sensing means determines the distance between the vehicle and the object and performs an automatic parking maneuver to keep the vehicle at a spaced distance from the object. For example, the vehicle can be reversed towards the feature until an appropriate spaced distance is determined by the environmental sensing means. If the space is large enough to accommodate the vehicle, the vehicle is parked, for example in the middle of the space, to position it in the center of the garage. Once the vehicle has reached the completed parked position, the vehicle is shut down, usually accompanied by the application of the parking brake.

[0006] Sometimes, the features bounding the parking space may prevent access to or egress from the vehicle. For example, a wall adjacent to the parking space can obstruct the opening of the vehicle door, thereby obstructing or preventing access via that door.

[0007] The driver's preference may be to keep the steering wheels of the vehicle in the forward direction when parked, for example to look neat or to prevent the vehicle wheels from protruding laterally. In other situations, it is preferred or even required to fix the wheels on an inclined terrain at any slope.

[0008] The defined maneuver is typically performed under various environmental conditions, e.g., independent of weather or light.

[0009] Sometimes, the characteristics of a restricted parking space may prevent a vehicle from entering the space. For example, the parking space may be too narrow to allow the vehicle to maneuver in and out of the parking space with sufficient clearance, or even too narrow to accommodate the vehicle itself (e.g., narrower than the maximum width of the vehicle).

[0010] The defined maneuver can be performed on different terrains, e.g., different ground types or smoothness.

[0011] Sometimes, a driver likes to park the vehicle neatly and expects the parked position of the vehicle to be precise. Generally, the driver likes to perform the defined maneuver quickly.

[0012] The vehicle can be instructed to perform a maneuver remotely, e.g., via a mobile device at which a user input indicating the maneuver is received. Alternatively, the vehicle can be instructed to perform the maneuver with the user in the vehicle.

[0013] The performance of the maneuver generally moves the vehicle from a starting position, e.g., outside a parking space, to a completion position, e.g., inside the parking space. If the vehicle has reached the completed parked position, the user can turn off the vehicle, typically accompanied by applying a parking brake.

[0014] Once the vehicle has completed the defined maneuver, the user can control the vehicle, e.g., to drive manually. If the vehicle has reached the completed parked position, the user can turn off the vehicle, typically accompanied by applying a parking brake.

[0015] The aim of the embodiments of the present invention is to at least mitigate one or more problems in the prior art. Summary of the Invention

[0016] Aspects and embodiments of the present invention provide a controller, a system, a method, a vehicle, and computer software as described below.

[0017] According to an aspect of the present invention, there is provided a controller arranged to operably determine the orientation of a defined maneuver completion position of a vehicle.

[0018] According to an aspect of the present invention, there is provided a controller comprising: an environmental input device for receiving an environmental signal indicating the position of at least one feature near the vehicle; a control device arranged to determine the orientation of a defined maneuver completion position of the vehicle based on the environmental signal; and an output device for outputting a possible defined maneuver completion position signal based on the determined orientation. Advantageously, a defined maneuver to a preferred defined maneuver completion position orientation can be performed.

[0019] The controller as described above, wherein: the input device may include an electrical input for receiving a signal; the output device may include an electrical output for outputting a signal; and the control device may include one or more control devices such as electronic processing devices.

[0020] The defined maneuver may include a parking maneuver. The parking maneuver may include a maneuver during parking, such as parking into a space to a fixed position. The parking maneuver may include a pick-up maneuver, such as parking from a fixed position out of the space. The defined maneuver completion position may include a parked position.

[0021] The controller may include a notification output device for outputting a notification signal indicating a signal of a possible defined maneuver completion position.

[0022] The control device may be arranged to determine the orientation of the defined maneuver completion position according to an environmental signal indicating the orientation of at least one feature near the vehicle.

[0023] The control device may be arranged to determine the orientation of the defined maneuver completion position to align with at least one feature near the vehicle.

[0024] The control device may be arranged to determine the orientation of the defined maneuver completion position to be parallel to at least one feature near the vehicle.

[0025] The control device may be arranged to determine the orientation of the defined maneuver completion position to be perpendicular to at least one feature near the vehicle.

[0026] The orientation of at least one feature near the vehicle may include the orientation of at least one other vehicle near the vehicle.

[0027] The control device may be arranged to determine the orientation of a plurality of possible defined maneuver completion positions of the vehicle according to the environmental signal.

[0028] The control device may be arranged to notify the vehicle user of the orientation of the plurality of possible defined maneuver completion positions.

[0029] The controller may include an output device for outputting a maneuver signal to cause the vehicle to perform a defined maneuver to a defined maneuver completion position; wherein, the control device is arranged to control the output device to output the maneuver signal.

[0030] The controller may include a request input device for receiving a request signal indicating a signal of a user request for vehicle movement received wired or wirelessly.

[0031] The control device may be arranged to determine the orientation of the defined maneuver completion position according to the position of the vehicle.

[0032] The controller may include a memory device for storing data therein, and a control device arranged to determine an orientation defining a maneuver completion position based on the data. Advantageously, the controller may use historical data associated with one or more of a particular location, scenario, user, and / or style to determine the orientation or a default orientation.

[0033] The control device may be arranged to determine a vacant space. The control device may be arranged to define at least one vehicle envelope within the vacant space, the vehicle envelope being adapted to accommodate the vehicle in the defined maneuver completion position. The control device may be arranged to define at least one defined maneuver completion position for the vehicle within the vacant space.

[0034] The vehicle envelope may include a target position adapted to accommodate the vehicle in the defined maneuver completion position. The vehicle envelope may include a target defined maneuver completion position. The vehicle envelope may be determined based on one-dimensional characteristics and / or measurements and / or estimates. The vehicle envelope may be determined based on an environmental signal indicating a length (such as an unobstructed length between features) that is long enough to accommodate the vehicle in the defined maneuver completion position. The vehicle envelope may be determined based on two-dimensional characteristics and / or measurements and / or estimates. For example, the vehicle envelope may be determined based on an environmental signal indicating a length (such as a length between features) where there are no obstacles within a particular width or extent perpendicular to the length. The particular width or extent may at least correspond to the width or extent of the vehicle, such as the vehicle width when the vehicle is parked and in a closed configuration (e.g., with the vehicle aperture member closed). The particular width or extent may at least correspond to the length of the vehicle, such as the vehicle length when the vehicle is parked and in a perpendicular position or in a closed configuration in a parking lot or a fishbone diagonal parking position. The vehicle envelope may include at least one dimension of the parking area and the defined maneuver completion position may be a parking position. The vehicle envelope may correspond to a pre-defined parking space. The vehicle envelope may include a target length, area, or volume for accommodating the vehicle in or on the defined maneuver completion position.

[0035] The control device may be arranged to define at least two vehicle envelopes within the vacant space, each vehicle envelope including a discrete defined maneuver completion position offset within the vacant space.

[0036] The vehicle envelopes may not overlap. Alternatively, the vehicle envelopes may overlap.

[0037] 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, where the first vehicle envelope is longitudinally offset relative to the second vehicle envelope along the longitudinal axis. In yet another alternative, the vehicle envelopes may be arranged to have non-parallel longitudinal axes, such as where the first vehicle envelope has a longitudinal axis perpendicular to the longitudinal axis of the second vehicle envelope.

[0038] The control device may be arranged to determine an orientation based on the position of the vehicle occupant. Advantageously, the orientation, such as a forward / backward orientation or a parallel / perpendicular orientation, can be adapted to the position of the vehicle occupant, for example, whether the vehicle occupant is inside or outside the vehicle.

[0039] The controller may include a memory device for storing data therein, and the control device is arranged to determine an orientation based on the data.

[0040] The control device may be arranged to adapt the orientation defining the manipulation completion position and / or the orientation defining the manipulation completion position based on an environmental signal indicating a change in at least one feature near the vehicle. Advantageously, the manipulation defining can be adapted during execution, for example, in response to an actual change in the feature, such as movement and / or a detected change in the feature, such as the discovery of a previously undetected parameter of the feature (e.g., a previously masked or undetected gap or protrusion, etc.), during execution.

[0041] The controller may include a control device arranged to determine an orientation based on a mode of performing at least a part of the defined manipulation. Advantageously, the orientation can be adapted to suit the mode. For example, the controller may be arranged to adapt the orientation based on whether the mode is an in-vehicle mode or an out-of-vehicle mode for the occupant. The controller may include a control device arranged to adapt the orientation based on at least one of the following: environmental conditions near the vehicle (e.g., precipitation, such as rain; temperature; light level; wind, etc.); terrain near the vehicle (e.g., road surface, off-road surface, road surface flatness, etc.).

[0042] According to one aspect of the present invention, a system is provided, including: a controller as described above, arranged to output a possible defined manipulation completion position signal.

[0043] The system may include a notification output device for notifying the vehicle user of the possible defined manipulation completion position.

[0044] The system may include an environmental sensing device for determining the position of at least one feature near the vehicle and for outputting an environmental signal.

[0045] The system may include a receiver device configured to wirelessly receive a signal indicating a user request from a mobile device and output a request signal based on the signal.

[0046] The notification output device may be arranged to output a notification signal for visual notification and / or audio notification, the notification signal indicating a possible defined maneuver completion position.

[0047] The system may include an environment sensing device configured to determine the position of at least one feature near the vehicle.

[0048] The system may include a receiver device configured to receive a signal indicating a user request and output a request signal based on the signal.

[0049] Wherein, the control device is arranged to output a maneuver signal; the system may include an actuator device configured to receive the maneuver signal to cause the vehicle to perform a defined maneuver.

[0050] According to an aspect of the present invention, there is provided a method for determining the orientation of a defined maneuver completion position of a vehicle, the method comprising: receiving an environment signal indicating the position of at least one feature near the vehicle; determining, using a control device, the orientation of the defined maneuver completion position of the vehicle based on the environment signal; and outputting a possible defined maneuver completion position signal based on the determined orientation.

[0051] The method may include outputting a notification signal indicating a possible defined maneuver completion position signal.

[0052] The method may include: determining, using a control device, the orientation of the defined maneuver completion position based on an environment signal indicating the orientation of at least one feature near the vehicle.

[0053] The method may include determining the orientation of the defined maneuver completion position to be aligned with at least one feature near the vehicle.

[0054] At least one feature near the vehicle may include at least one other vehicle near the vehicle.

[0055] The method may include determining the orientations of a plurality of possible defined maneuver completion positions of the vehicle based on the environment signal; and notifying the vehicle user of the orientations of the plurality of possible defined maneuver completion positions.

[0056] The method may include providing the user with an option of orientation, such as selecting from a plurality of possible defined maneuver completion positions.

[0057] The method may include determining the orientation of the defined maneuver completion position based on the position of the vehicle.

[0058] The method may include: receiving a request signal indicating a signal received, either wired or wirelessly, that indicates a user request for vehicle movement.

[0059] The method may include outputting a maneuver signal to cause the vehicle to perform a defined maneuver to a defined maneuver completion position; the output device is controlled by a control device to output the maneuver signal.

[0060] The method may include: storing data in a memory device; and determining a possible defined maneuver completion position based on the data.

[0061] The method may include detecting a vacant space based on an environmental signal.

[0062] The method may include: determining at least one vehicle envelope within the vacant space based on at least one dimensional parameter of the vacant space derived from the environmental signal. The vehicle envelope may be adapted to accommodate the vehicle in the defined maneuver completion position.

[0063] The method may include: determining a vehicle envelope based on an environmental signal indicating at least one additional parameter associated with the vacant space in addition to the dimensional parameter.

[0064] The method may include classifying the vacant space into one or more categories, the categories corresponding to one or more of the following: the vacant space includes a vehicle envelope adapted to accommodate the vehicle in the defined maneuver completion position; the vacant space includes a vehicle envelope adapted to accommodate the vehicle in the defined maneuver completion position when performing a defined maneuver in a specific mode; the vacant space includes a vehicle envelope in a specific orientation; the vacant space includes multiple vehicle envelopes; the vacant space includes a single vehicle envelope; and the vacant space does not include a vehicle envelope.

[0065] For all technologies, according to one aspect of the present invention, there is provided a vehicle that includes a controller according to one aspect of the present invention, a system according to one aspect of the present invention, or is arranged to perform a method according to one aspect of the present invention.

[0066] For all technologies, according to one aspect of the present invention, there is provided computer software that is arranged to perform a method according to one aspect of the present invention when executed by a processing device. 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.

[0067] 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 include a single control unit or electronic controller, or alternatively, the different functions of the controller may be embodied in or hosted by 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 in a control system as well as a plurality of control units or controllers that operate together to provide any stated control function. To configure the controller, an appropriate instruction set may be provided, which when executed causes the control unit or computing device to implement the control techniques specified herein. The instruction set may suitably be embodied in the one or more electronic processors. Alternatively, the instruction set 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 as software running on one or more processors. One or more other controllers may be implemented as software running on one or more processors, optionally, with the first controller implemented as software running on the same one or more processors. Other suitable arrangements may also be used.

[0068] Within the scope of the present application, it is expressly stated that the various aspects, embodiments, examples and alternatives set forth in the foregoing paragraphs, claims and / or the following description and drawings, and in particular their respective features, may be taken independently or in any combination. That is, all embodiments and / or the features of any embodiment may be combined in any way and / or combination, unless the features are incompatible. The applicant reserves the right to change 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 incorporate any feature of any other claim, even though initially not claimed in that manner.

[0069] The techniques mentioned above may be used individually or in any practical combination. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] One or more embodiments of the present invention will now be described by way of example only with reference to the accompanying drawings, in which:

[0071] Figure 1a A vehicle is shown relative to features near the vehicle;

[0072] Figure 1b A vehicle is shown relative to the features in another scenario;

[0073] Figure 1cShows a vehicle with respect to this feature in another scenario;

[0074] Figure 2 Shows a controller according to an embodiment of the present invention;

[0075] Figure 3 Shows a system according to an embodiment of the present invention;

[0076] Figure 4 Shows a method according to an embodiment of the present invention;

[0077] Figure 5a Shows in Figure 1a A vehicle according to an embodiment of the present invention in the scenario based on;

[0078] Figure 5b Shows in Figure 1b A vehicle according to an embodiment of the present invention in the scenario based on;

[0079] Figure 5c , Figure 5d And Figure 5e Shows a vehicle in the scenario based on Figure 1c ;

[0080] Figure 6 Is a vehicle according to an embodiment of the present invention. Detailed Description

[0081] Figure 1a , Figure 1b And Figure 1c Show vehicle 2110 according to an embodiment of the present invention in three scenarios. In Figure 1a And Figure 1b , vehicle 2110 is shown as having a vehicle forward direction indicated by arrow 2114, and this vehicle forward direction is shown as parallel to the central longitudinal axis 2112 of vehicle 2110. In the shown scenario, vehicle 2110 is shown as being at a defined maneuver start position. In Figure 1a , Figure 1b And Figure 1c In the specific scenario shown, it may be desirable to perform a defined maneuver to park vehicle 2110 in a defined maneuver completion position in vacant space 2172.

[0082] In Figure 1a , Figure 1b And Figure 1c , vehicle 2110 is shown as adjacent to vacant space 2172, wherein a parking-in defined maneuver will be performed using vehicle 2110 to enter vacant space 2172 to perform the defined maneuver. In Figure 1a, vehicle 2110 is shown in relation to feature 2125 near vehicle 2110. In this example, feature 2125 is an object that is a wall that is parallel to longitudinal axis 2112 of vehicle 2110 in a defined maneuver completion position, i.e., generally parallel to one side (e.g., here, the left side) of vehicle 2110. The object is not limited to being wall 2125, and may be, for example, a bollard, fence, barrier, or other object at or adjacent to void 2172 to form its boundaries. Figure 1a , Figure 1b and Figure 1c As shown, another feature 2140 defines one end of the space 2172 in the form of a stationary vehicle. Similarly, another feature 2150 defines the opposite end of the space 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 limitations for the space 2172 (e.g., Figure 1b and Figure 1c There can be Figure 1a It should be understood that although shown here in a plan view, the scene depicted is three-dimensional.

[0083] Especially from Figure 1c As can be seen, it may not be clear and / or there may be multiple options for orienting the vehicle in the space indicated by void 2172 .

[0084] Embodiments of the present invention are intended to improve this problem.

[0085] It should be understood that Figure 1a , Figure 1b and Figure 1c In the illustrated scenario, the defined maneuver may be a maneuver of the vehicle 2110 that is performed automatically by the vehicle 2110, i.e., under the 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. Figure 1a , Figure 1b and Figure 1c In the embodiment, the defined maneuver may be a parking maneuver to control the vehicle 2110 into a parking space.

[0086] As will be further described, it may be advantageous to perform at least a portion of the maneuvers while the person controlling the vehicle 2110 is outside the vehicle 2110. Figure 1a , access to vehicle 2110 may be restricted after performing a limited maneuver.

[0087] To perform a defined maneuver, vehicle 2110 includes an environmental sensing device for determining the positions of features 2125, 2140 near the vehicle 2110. The environmental sensing device can include one or more sensing devices or imaging devices. One or more sensing devices can emit radiation and receive the radiation reflected from features near the vehicle, for example, an ultrasonic sensing device, but it should be understood that the present invention is not limited in this regard. Such an environmental sensing device has a minimum distance with an accuracy that can determine the position of feature 2125 due to, for example, the resolution of the imaging device or the signal-to-noise ratio of the sensing device.

[0088] In the specific example shown here, vehicle 2110 includes a part of the environmental sensing device in or on the vehicle movable protrusion 2182. For example, each side-view mirror or rear-view mirror of vehicle 2110 can have a camera or the like mounted thereto or thereon.

[0089] Figure 2 An example according to an embodiment of the present invention is shown including in Figure 1a and Figure 1b the controller 2200 or control unit 2200 in vehicle 2110.

[0090] 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, for example, one or more memory devices 2220 for storing data therein. Here, the input device 2230 is used to receive environmental signals indicating features 2125, 2140, 2150 near the vehicle 2110.

[0091] The control device 2210 is arranged to determine the orientation of the defined maneuver completion position of the vehicle 2110 according to the environmental signal. The output device 2240 is used to output a possible defined maneuver completion position signal according to the determined orientation. Advantageously, the controller 2200 can determine the orientation of the defined maneuver completion position based on the environment such as indicated by the environmental signal.

[0092] Here, the controller 2200 includes a notification output device for outputting a notification signal indicating a possible defined maneuver completion position. The control device 2210 is arranged to output a notification signal indicating a plurality of possible defined maneuver completion positions. In at least some examples, the defined maneuver completion position is selectable by the user from a plurality of selectable possible defined maneuver completion positions according to the possible defined maneuver completion position signal. Advantageously, the user can be notified of the availability of one or more target defined maneuver completion positions, so that the user can select their preferred target defined maneuver completion position if available. For example, such as Figure 5cAs indicated by the dashed line in, it is possible to provide the user with the possibility that the vehicle 2110 is oriented parallel backward in the scenario in Figure 1c the scenario.

[0093] In at least some examples, the control device 2210 is arranged to provide a notification signal indicating that there is no possible defined maneuver completion position, corresponding to a scenario (not shown) in which the vacant space 2172 is not suitable for accommodating the vehicle 2110 when performing the defined maneuver. Thus, by notifying the user, it is known that a vacant space has been identified, but the vacant space is not suitable for performing the defined maneuver, for example, the vacant space is too small for performing the defined maneuver (for example, the adjacent feature 2125 or the objects 2140, 2150 are significantly closer together than in Figure 1a and there is not enough size to accommodate or house the vehicle 2110 even when the vehicle is in the closed configuration).

[0094] The control device 2210 can be formed by one or more electronic processing devices such as an electronic processor. The processor can operably execute computer-readable instructions stored in one or more memory devices 2220. As will be described, the control device 2210 is arranged to control the output device 2240 to output a possible defined maneuver completion position signal according to the environmental signal. In some embodiments, the input device 2230 and the output device 2240 can be combined, for example, by being formed by an I / O unit or an interface unit. For example, the controller 2210 can include an interface to a network forming a communication bus of the vehicle. The interface bus can be an Internet Protocol (IP)-based communication bus such as Ethernet, but the embodiments of the present invention are not limited in this regard. The input device 2230 can include an electrical input for receiving the environmental signal.

[0095] As shown here, the memory device 2220 can be used to store data from the input device 2230. For example, the memory device can store data about the feature 2125, 2140 or the vacant space 2172 for future use. For example, in the case where an occupant or user of the vehicle 2110 has actively selected (for example, by inputting one or more parameter inputs) or implicitly shown (for example, by repeated behaviors or usage patterns) a preference for a target defined maneuver completion position and / or orientation for one or more scenarios, the memory device can store data corresponding to the preference to provide a default and / or automatic target defined maneuver completion position and / or orientation according to an input (such as an environmental signal and / or a position signal, etc.) indicating such a scenario or a similar scenario for the one or more preferences.

[0096] Data can be stored before and during the performance of a defined maneuver for use during the performance of the defined maneuver. Additionally or alternatively, data can be stored for use during a subsequent defined maneuver. For example, when data is stored before or during the performance of a defined maneuver that reaches the defined maneuver completion position as shown by the dashed line in any of Figures 5a to 5e the data that is stored can be used for a subsequent defined maneuver such as a maneuver to pick up a vehicle from the defined maneuver completion position of Figures 5a to 5e or be used during a subsequent defined maneuver. In cases where the stored data such as data of features 2125, 2140, 2150 is used for at least a part of the performance of a defined maneuver, the controller 2200 can perform checks such as for the validity or continued validity of the data. For example, the controller 2200 can corroborate the data using another input, for example, using a later input from an environmental sensing device or an input from another part of the environmental sensing device (such as another sensor or camera located at another part of the vehicle 2110 that is capable of confirming the continued presence and / or location of one or more of the features 2125, 2140, 2150).

[0097] In at least some examples, the controller 2210 can include a second input device for receiving a request signal that indicates a received signal indicative of a user request, such as a wirelessly received signal. In at least some examples, the request signal indicates a wirelessly received signal that represents a user request to move the vehicle 2110 to a desired defined maneuver completion position. The user request can be for performing a defined maneuver to a selected target defined maneuver completion position and / or orientation.

[0098] In at least some examples, the controller 2200 can include a maneuver output device. The maneuver output device can include an electrical output for outputting a maneuver signal. The maneuver signal represents an instruction for the movement of the vehicle 2110. The instruction provided by the maneuver signal causes the vehicle 110 to perform a defined maneuver. The control device 2210 is arranged to control the maneuver output device to cause the vehicle 2110 to perform at least a part of a defined maneuver in accordance with an environmental signal.

[0099] It should be understood that the controller 2200 can be arranged to perform a part of a defined maneuver in a particular mode. For example, a user can initiate a maneuver to perform a defined maneuver to a defined maneuver completion position after transferring control to the controller 2210, where the mode of performance is variable during the performance of a part of the defined maneuver (such as between an in-vehicle occupant mode and an out-of-vehicle occupant mode).

[0100] Figure 3Illustrates a system 2300 according to an embodiment of the present invention. The system 2300 includes the controller 2210 described above and shown in Figure 2 FIG.

[0101] The system 2300 includes an environmental sensing device 2330 for determining information about the environment of the vehicle 2110. In particular, the environmental sensing device 2330 is 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 environmental sensing device is associated with one or more movable protrusions 2182, such as at least one sensor or camera mounted in or on a vehicle rearview mirror. The environmental sensing device 2330 is arranged to output an environmental signal indicative of the determined features. The environmental signal may be environmental data, which may be stored in a memory. The environmental sensing device may include one or more sensing devices, such as an imaging device such as a camera, or other sensing devices such as lidar, radar, ultrasonic devices, sonar devices, etc. Signals output by each of the sensing devices may be used to form a representation of the environment of the vehicle 2110, which is stored in the memory for use by other systems of the vehicle 2110.

[0102] Here, the environmental sensing device 2330 is arranged to determine the location of features, such as surface markings, e.g., painted lines representing the perimeter of a parking bay, or an object relative to which the vehicle is to be maneuvered, such as a wall, a pillar, or another vehicle. The control device is arranged to determine, based on the environmental signal, the absence of features, e.g., the spacing between obstructive features (e.g., the adjacent features 2140, 2150) shown here. Accordingly, the control device is arranged to determine a free space 2172 in which no feature, e.g., no obstructive feature, is located. In the case where the free space 2172 is large enough, the control device is arranged to determine a vehicle envelope 2174 suitable for accommodating the vehicle 2110 in a defined maneuver completion position. The vehicle envelope 2174 includes a target position suitable for accommodating the vehicle 2110 in a defined maneuver completion position. Thus, here, the vehicle envelope 2174 includes a target defined maneuver completion position. In at least this example, the vehicle envelope 2174 is determined based on one-dimensional characteristics and / or measurements and / or estimates. In particular, here, the vehicle envelope 2174 is determined based on an environmental signal indicative of a length, e.g., the unobstructed length between the features 2140, 2150. The unobstructed length is long enough to accommodate the vehicle 2110 in a defined maneuver completion position, here, the length being the spacing between the features 2140, 2150, which is greater than the length of the vehicle in a defined maneuver completion position. The defined maneuver may include, for example, parking in a parked position.

[0103] The environmental sensing device 2330 is arranged to determine the orientation of one or more nearby features, such as the orientation of the adjacent vehicles 2140, 2150.

[0104] 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 manipulation. The controller 2210 may include a defined manipulation controller for controlling one or more systems of the vehicle 2110 to perform one or more defined manipulations. The defined manipulation device may be associated with one or more actuators 2350 of the vehicle 2110. One or more actuators 2350 are provided for effecting the movement of the vehicle 2110. The actuators may include one or more in a power steering mechanism arranged to provide steering of the wheels of the vehicle 2110 in accordance with signals received from the controller 2210. A second actuator may include a power braking mechanism of the vehicle 2110 arranged to actuate the brakes of the vehicle in accordance with signals received from the controller 2210. A third actuator includes the powertrain of the vehicle. The controller 2210 is arranged to control the steering of the vehicle wheels 2180 relative to the feature 2125. A fourth actuator 2350 includes one or more mechanisms for changing the position of one or more movable protrusions 2182.

[0105] 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 manipulation signals output by the controller 2210. The motion control device 2320 is associated with one or more motion units of the vehicle 2110, and the one or more motion units may form part of a powertrain (not shown) of the vehicle 2110. The motion units may include one or more of the following: an internal combustion engine of the vehicle 2110 and one or more electric motors. The powertrain is arranged to provide power or torque to cause movement of the vehicle 2110 along the longitudinal axis in accordance with manipulation signals received from the controller 2210 - i.e., forward or reverse movement of the vehicle 2100. 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 - i.e., to cause the vehicle to move generally forward or backward. The torque may include a driving torque, i.e., a torque applied in the direction of the 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 may be applied simultaneously to provide slow movement of the vehicle 2110. The braking torque may also be applied at least partially after the driving torque to effect accurate movement of the vehicle 2110. To effect control of the steering, the controller 2210 may communicate with the motion control device 2320. Thus, one or more actuators 2350 may control the direction and movement of the vehicle to perform a defined manipulation. The defined manipulation is performed in accordance with environmental signals provided by an environmental sensing device 2330.

[0106] One or more defined maneuvers that can be performed by the vehicle 2110 under the control of the controller 2210 can include, for example, Figures 5a to 5e the parking maneuver shown, in which the vehicle 2110 is controlled to reach a parked position.

[0107] As shown herein, the system 2300 includes a receiver device 2310 for receiving a signal 2305. The signal 2305 can be received wirelessly from a mobile device 2390 associated with a person responsible for the 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 can be output by the receiver device 2310 to a communication bus of the vehicle 2110, which can communicatively couple the components of the system 2300.

[0108] The receiver device 2310 can be in the form of a radio unit 2310. The radio unit 2310 can include a receiver for receiving a radio signal 2305 from the mobile device 2390. In some embodiments, the radio unit 2310 can also include a transmitter, or can be a transceiver 2310 configured to receive a radio signal 2305 transmitted from the mobile device 2390 and transmit a signal to the mobile device 2390. The radio unit 2103 and the mobile device 2390 can be arranged to provide a wireless local area network via which two-way communication can occur between the radio unit 2103 and the mobile device 2390. For example, the radio unit 2103 can be arranged to communicate with the mobile device 2390 via WiFi(RTM). In alternative embodiments, other radio communication standards can be used for communication. In one example, the communication between the radio unit 2103 and the mobile device 2390 is provided via Bluetooth(RTM), but other protocols or standards can be envisioned.

[0109] The mobile device 2390 can be an electronic key fob associated with the vehicle 2110. For example, the mobile device 2390 can be used to gain access to the vehicle 2110 and activate or power the vehicle 2110. In other embodiments, the mobile device 2390 can be an electronic device associated with a person responsible for the vehicle 2100, such as, for example, a mobile phone, a tablet computer, a watch, a wearable electronic device, or other computing device associated with the person. The mobile device 2390 is capable of receiving user input indicating that the person desires to move the vehicle 2110. The user input can be provided in the form of a button or key press, activation of a graphical display icon, a gesture, or a voice command. Other forms of user input can also be envisioned.

[0110] Figure 4 Method 2400 according to an embodiment of the present invention is shown. Method 2400 is a method for controlling the movement of vehicle 2110. Method 2400 may be formed by the controller 2210 and the system 2300 described above with reference to Figure 2 and Figure 3 described. Method 2400 will be described by way of example with reference to Figure 1a 、 1b and the scenarios shown in 1c respectively Figure 5a 、 5b and 5c to 5e.

[0111] Method 2400 generally includes the following steps: receiving 2410 an environmental signal from the environmental sensing device 2330, the environmental signal indicating features 2125, 2140 near the vehicle 2110, and determining 2415 therefrom an orientation for a possible defined maneuver completion position for accommodating the vehicle, and then performing the defined maneuver. The control device determines 2415 whether the vehicle 2110 can be oriented within the vacant space 2172. For example, there may be multiple target defined maneuver completion positions or orientations in the vacant space 2172. For example, in the scenario depicted in Figure 1b , the control device determines whether the vehicle 2110 can be oriented within the vacant space in a forward-facing and / or rear-facing orientation and parallel to the adjacent vehicles 2140, 2150. In the case where the defined maneuver can be performed, a notification signal indicating the possible defined maneuver completion position and orientation (e.g., forward or backward and / or parallel or perpendicular) is output 2425, thereby providing a selection of a target defined maneuver completion position or orientation suitable for accommodating the vehicle when performing the defined maneuver. Optionally, when a request 2420 is made for an orientation or a defined maneuver completion position, the control device controls the performance of the defined maneuver 2440.

[0112] Referring to Figure 4 , the illustrated embodiment of method 2400 includes the following steps: receiving 2410 an environmental signal from the environmental sensing device 2330. The controller 2210 determines 2420 whether the environmental signal indicates one or more features 2125 near the vehicle 2110 corresponding to an applicable vacant space 2172. If there is no applicable vacant space, the defined maneuver is not performed. In at least some examples, this non-performance or unavailability is communicated to the user (e.g., the user is notified that no applicable vehicle vacant space has been detected or only non-applicable vacant spaces have been detected).

[0113] It should be understood that, in at least some examples, a defined maneuver can be performed without an explicit or discrete selection by the user. For example, in cases where only a single defined maneuver completion position is available or most applicable, the execution 2440 of the defined maneuver can be performed on the defined maneuver completion position without any explicit selection between options or their notifications. Similarly, in at least some examples, where multiple orientations may be available, there can be a common default orientation provided for performing one or more defined maneuvers, such as a preferred orientation. The default can be adaptive, e.g., programmable by the user and / or self-learning so as to evolve or adapt, e.g., over time with the user's behavior. In at least some examples, there can be a default mode for performing a defined maneuver without any option or requirement to select an orientation. In other examples, the default mode can be a specific orientation, e.g., performing a vertical park-in backward so that the vehicle 2110 facing forward 2114 leaves the vacant space 2172 in the entering direction, thus simplifying parking, and vice versa, where parking in backward is easy to access the trunk or rear compartment of the vehicle 2110 from the entrance side of the vacant space 2172.

[0114] The defined maneuver completion position and / or orientation can be explicitly selected via user input, such as a selection via an interface. In at least some examples, the defined maneuver completion position and / or orientation selection can be via a user action. For example, where the defined maneuver completion position and / or orientation is available, the selection of the defined maneuver completion position and / or orientation can be at least partially achieved by the user positioning the vehicle 2110 at the defined maneuver start position, where the vehicle 2110 is offset in a preferred direction along which the vehicle 2110 is to be positioned at the defined maneuver completion position (e.g., whereby the defined maneuver can start with the vehicle 2110 traveling in the forward or backward direction respectively). Additionally or alternatively, the selection can be made via another system or interface such as the activation of a left / right signal indicator, the steering wheel, a touch screen, a voice command, or the position of an occupant (e.g., the occupant opening a door, leaving the vehicle seat, etc.).

[0115] In Figure 5a , according to an embodiment of the present invention, the vehicle 2110 at a possible defined maneuver completion position with possible orientations is shown in dashed lines after performing a defined maneuver from the Figure 1a starting position to the Figure 5a defined maneuver completion position. Such possible defined maneuver completion positions and / or orientations can be notified to the user before performing the defined maneuver. Here, a defined maneuver to the target defined maneuver completion position will be performed so as to orient the vehicle 2110 parallel to the adjacent vehicles 2140, 2150 with a parallel, on-street parking defined maneuver.

[0116] Figure 5b shows a scene that is generally similar to the Figure 1b scene shown. In Figure 5b , the control device has recognized the possibility and preference for orienting the vehicle 2110 within the empty space 2172 in a direction similar to the directions of two adjacent vehicles 2140, 2150 or in a direction facing a direction similar to the directions of two adjacent vehicles 2140, 2150. As shown herein, the vehicle 2110 is shown in Figure 5b performing a defined maneuver under the control of the controller, where the Figure 1b starting position is shown by a dashed line. In an alternative example (not shown), the controller may provide the user with options for alternative orientations, such as where the vehicle faces the empty space 2172 outward in a direction opposite to the direction shown.

[0117] Figure 5c , Figure 5d and Figure 5e show a scene that is generally similar to the Figure 1c scene shown. In Figure 5e , three example possible defined maneuver completion positions with possible orientations are indicated. As shown by the dashed line in Figure 5e , the user (not shown) is provided with a choice of possible defined maneuver completion positions and possible orientations; and the defined maneuver can be performed to a desired defined maneuver completion position according to the user's choice.

[0118] For example Figure 5c as indicated, the controller may select or provide a default defined maneuver and / or orientation according to preferences or a particular implementation. It should be understood that the scene depicted in Figure 5c now presents another scene for possible defined maneuvers. For example, another vehicle (not shown) may now be able to perform a defined maneuver to enter the empty space 2172 between the parked vehicle 2110 and the adjacent vehicle 2140 on the left. It should be understood that the execution of the defined maneuver to an offset defined maneuver completion position as shown in Figure 5c enables the Figure 1c and Figure 5c empty spaces to be used to accommodate two vehicles, which would otherwise not be possible (e.g., as shown in Figure 5d ).

[0119] Once in the defined maneuver completion position of the parking position in each of Figure 5a , Figure 5b , Figure 5c , Figure 5d and Figure 5e , the user 2195 will typically apply the parking brake to keep the vehicle 2110 stationary as the engine is turned off.

[0120] The controller 2200 may be arranged to provide and / or select a potentially defined manipulation completion position having a potential orientation based on environmental signals such as the characteristics of the vacant space 2172. For example, the controller 2200 may be arranged to provide and / or select a potentially defined manipulation completion position having a potential orientation based on the size of the vacant space 2172, the alignment of the adjacent objects 2140, 2150, or other parameters associated with the vacant space 2172. In at least some examples, the available potentially defined manipulation completion positions having a potential orientation may be restricted (e.g., restricted by the vacant space 2172 including dimensions that are not suitable for entering / exit through 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 potentially defined manipulation completion position having a potential orientation based on other parameters, such as one or more of the following: ambient conditions (e.g., rain, temperature, brightness, darkness, time of day, day of the week, etc.); terrain conditions (e.g., road surface conditions, off-road surface conditions, slope, etc.); the position of one or more of the multiple vehicle occupants (e.g., the position of each vehicle occupant).

[0121] The controller 2210 may be arranged to allow user adaptation. For example, the user may be able to at least partially override, program, or adjust the controller 2210 for one or more of the following: one or more available potentially defined manipulation completion positions; one or more potential orientations; one or more inputs for determining the available potentially defined manipulation completion positions and / or potential orientations; a selection device for selecting the defined manipulation completion position and / or potential orientation. The controller 2210 may be arranged to be manually overridden, 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 override, program, or adjust the output of the manipulation signal, such as by learning from user behavior, the user behavior being, for example, repetitive user behavior associated with one or more of the following: input patterns; geographical location; user identity (e.g., in the case where the vehicle 2110 is used by multiple users at different times). For example, the controller 2210 may be arranged to automatically select a default orientation when the occupant 2195 is located at a particular position (e.g., relative to the vehicle 2110) or when the vehicle 2110 is positioned at a particular location where the user has previously performed a defined manipulation of entering a known vacant space (e.g., a house or a garage).

[0122] It should be understood that other defined maneuvers can be performed in addition to those illustrated. It should be understood that the controller 2200 can be arranged to enable an occupant to transition between an in-vehicle position and an out-of-vehicle position during the performance of a defined maneuver. For example, the controller 2200 can be arranged to permit interruption or suspension of a defined maneuver, such as to enable the occupant 2195 to transition into or out of the vehicle 2110 while the vehicle 2110 is stationary. In at least some examples, the vehicle 2110 can have steerable rear wheels; or the vacant space can include a fishbone (diagonal) vacant space 2172 or a perpendicular vacant space (e.g., where the vehicle 2110 is parked on one end).

[0123] As a result of the method 2400, the vehicle can be more advantageously positioned or configured after the performance of a defined maneuver. It should also be understood that embodiments of the present invention are not limited to being usable in association with defined maneuvers. It can also be used to provide an indication of a possible defined maneuver completion position and / or a possible orientation even when parked or when driven by a human driver, so as to perform a part of a defined maneuver.

[0124] It can be understood that embodiments of the present invention can be implemented in the form of hardware, software, or a combination of hardware and software. Any such software can be stored in the form of a volatile or non-volatile storage device, such as a storage device like ROM, whether erasable or rewritable or not, or in the form of a memory, such as, for example, RAM, a memory chip, a device, or an integrated circuit, or stored in an optically or magnetically readable medium, such as a CD, a DVD, a disk, or a magnetic tape. It will be understood that the storage device and the storage medium are embodiments of machine-readable storage devices adapted to store one or more programs, which when executed implement embodiments of the present invention. Accordingly, the embodiments provide a program and a machine-readable storage device storing the program, the program including code for implementing a system or method as claimed in any of the appended claims. In addition, embodiments of the present invention can be electrically transmitted via any medium, such as a communication signal carried by a wired or wireless connection, and the embodiments suitably include such media.

[0125] All features disclosed in this specification (including any appended claims, abstract, and drawings) and / or all steps of any method or process so disclosed can be combined in any combination, except combinations in which at least some of such features and / or steps are mutually exclusive.

[0126] Unless otherwise expressly stated, each feature disclosed in this specification (including any appended claims, abstract, and drawings) can be replaced by an alternative feature serving the same, equivalent, or similar purpose. Thus, unless otherwise expressly stated, each disclosed feature is only one example of a generic series of equivalent or similar features.

[0127] The present invention is not limited to the details of any of the foregoing embodiments. The present invention extends to any novel feature or any novel combination of features disclosed in this specification (including any appended claims, abstract and drawings), or to any novel step or any novel combination of steps of any method or process thus disclosed. The claims should not be construed as covering only the foregoing embodiments, but also any embodiment falling within the scope of the claims.

[0128] It will be understood that the various aspects and features of the above technologies can be used alone or in combination to provide improvements in terms of maneuvering and parking.

Claims

1. A controller, comprising: An environmental input device for receiving an environmental signal indicating the position of at least one feature near the vehicle; A control device arranged to determine the orientation of the defined maneuver completion position of the vehicle based on the environmental signal; And An output device for outputting a possible defined maneuver completion position signal based on the determined orientation.

2. The controller according to claim 1, wherein The controller includes a notification output device for outputting a notification signal indicating the possible defined maneuver completion position signal.

3. The controller according to claim 1 or 2, wherein The control device is arranged to: determine the orientation of the defined maneuver completion position based on the environmental signal indicating the orientation of the at least one feature near the vehicle.

4. The controller according to claim 3, wherein, The control device is arranged to determine the orientation of the defined maneuver completion position to be aligned with the at least one feature near the vehicle.

5. The controller according to claim 4, wherein, The control device is arranged to determine the orientation of the defined maneuver completion position to be parallel to the at least one feature near the vehicle.

6. The controller according to claim 4, wherein, The control device is arranged to determine the orientation of the defined maneuver completion position to be perpendicular to the at least one feature near the vehicle.

7. The controller according to any one of claims 3 to 6, wherein, The orientation of the at least one feature near the vehicle includes the orientation of at least one other vehicle near the vehicle.

8. The controller according to any one of the preceding claims, wherein, The control device is arranged to: determine the orientations of a plurality of possible defined maneuver completion positions of the vehicle based on the environmental signal.

9. The controller according to claim 8, wherein, The control device is arranged to: notify the vehicle user of the orientations of the plurality of possible defined maneuver completion positions.

10. The controller according to any one of the preceding claims, comprising an output device configured to output 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 maneuver signal.

11. The controller according to any one of the preceding claims, including a request input device for receiving a request signal, the request signal indicating a signal received wired or wirelessly indicating a user's request for vehicle movement.

12. The controller according to any one of the preceding claims, wherein, The control device is arranged to: determine the orientation of the defined maneuver completion position based on the position of the vehicle.

13. The controller according to any one of the preceding claims, including a memory device for storing data therein, the control device being arranged to determine the orientation of the defined maneuver completion position based on the data.

14. A system, comprising: The controller according to any one of the preceding claims, arranged to output the possible defined maneuver completion position signal; And A notification output device for notifying the vehicle user of the possible defined maneuver completion position.

15. The system according to claim 14, including an environmental sensing device for determining the position of the at least one feature near the vehicle and for outputting the environmental signal.

16. The system according to claim 14 or 15, including a receiver device for wirelessly receiving a signal indicating a user request from a mobile device and outputting a request signal based on the signal.

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 visual notification and / or audio notification, the notification signal indicating the possible defined maneuver completion position.

18. A method for determining the orientation of a defined maneuver completion position of a vehicle, the method comprising: Receiving an environmental signal indicating the position of at least one feature near the vehicle; Using a control device to determine the orientation of the defined maneuver completion position of the vehicle based on the environmental signal; And Outputting a possible defined maneuver completion position signal based on the determined orientation.

19. The method according to claim 18, comprising outputting a notification signal indicating the possible defined maneuver completion position signal.

20. The method according to claim 18 or 19, comprising: Using the control device to determine the orientation of the defined maneuver completion position based on the environmental signal indicating the orientation of the at least one feature near the vehicle.

21. The method according to any one of claims 18 to 20, comprising determining the orientation of the defined maneuver completion position to be aligned with at least one feature near the vehicle.

22. The method according to claim 21, wherein, The at least one feature near the vehicle includes at least one other vehicle near the vehicle.

23. The method according to any one of claims 18 to 22, comprising determining the orientations of a plurality of possible defined maneuver completion positions of the vehicle based on the environmental signal; and notifying the vehicle user of the orientations of the plurality of possible defined maneuver completion positions.

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

25. A computer software, the computer software being arranged to: optionally when stored on a computer-readable non-transitory medium, implement a method according to any one of claims 18 to 23 when executed by a processing device.

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