Systems and procedures for controlling vehicle maneuvers

Abstract

Driver assistance system (10) for a vehicle (100), comprising the following: Environmental sensing means (18) configured to obtain environmental data, wherein the environmental data indicates an environment near the vehicle (100); an input device configured to receive a request to perform a maneuver; a control device (12) that has access to a memory (14), wherein the control device (12) is configured to store a representation of the environment data in the memory (14) at least periodically along a path of the vehicle (100), and a vehicle detection device that is connected to the control device (12) and configured to produce an output relating to the size of another vehicle, wherein the control means (12) is coupled to the input means in a communication-capable manner and, upon receiving a request to execute a maneuver via the input means, is configured as follows: Searching, using stored environmental data associated with a path traveled by the vehicle (100), the representation of the environmental data stored in the memory (14) to locate a maneuver site where a space requirement to perform the maneuver is met; Initiating at least semi-autonomous driving of the vehicle (100) to the maneuver location; and Calculating the space required to perform the maneuver, depending on the output regarding the size of another vehicle (100).

Description

TECHNICAL FIELD

[0001] The present disclosure relates to systems and methods for controlling vehicle maneuvers, and particularly, but not exclusively, to systems and methods for controlling vehicle maneuvers where space is limited. Aspects of the invention relate to a system, a control device, a computer program product, a non-transitory computer-readable medium, a processor, a vehicle, and a method. STATE OF THE ART

[0002] Some modern vehicles exhibit the ability to perform maneuvers essentially autonomously. During such autonomous maneuvers, the user allows the vehicle to control the steering to maneuver the vehicle to a destination set by the user or identified by the vehicle. The user may retain control of the powertrain controls (i.e., the accelerator pedal, brake pedal, gear selector, and clutch pedal in vehicles with manual transmissions) during the maneuver, or the vehicle may control at least some of these inputs as well.

[0003] During an autonomous maneuver, a vehicle, using inputs from multiple sensors, determines which parts of the surrounding terrain are suitable for driving and steers the vehicle to drive only on terrain the vehicle has determined to be suitable. However, under certain circumstances, the area of ​​suitable terrain surrounding the vehicle may be too small to perform the requested maneuver. State-of-the-art vehicles capable of performing autonomous or semi-autonomous maneuvers typically require the user to maintain control of the vehicle until they arrive at a suitable location to perform the maneuver.While this is always somewhat inconvenient, it can be particularly problematic if the user has requested that the vehicle perform an autonomous maneuver because the road or path ahead is blocked, as the user will most likely have to reverse to a suitable location to perform the maneuver. Reversing the vehicle to a suitable location for a maneuver can actually be more challenging for the driver than performing the maneuver themselves, especially in off-road conditions or on steep roads or paths.

[0004] Known prior art includes DE 10 2011 110 214 A1, JP 2016- 30 511 A, US 2015 / 0 224 988 A1, EP 3 037 782 A1 and US 9 381 916 B1.

[0005] It is the object of embodiments of the invention to at least mitigate one or more of the problems of the prior art. SUMMARY OF THE INVENTION

[0006] Aspects and embodiments of the invention provide a system, a control apparatus, a method, a computer program product, a non-transitory computer-readable medium, a processor, and a vehicle as claimed in the appended claims.

[0007] According to one aspect of the invention, a driver assistance system for a vehicle is provided, comprising: environmental sensing means configured to obtain environmental data, wherein the environmental data indicates an environment near the vehicle; an input means configured to receive a request to perform a maneuver; and a control means having access to a memory, wherein the control means is configured to store a representation of the environmental data in the memory at least periodically along a path of the vehicle, wherein the control means is communicatively coupled to the input means and, upon receiving a request to perform a maneuver via the input means, is configured to: search the representation of the environmental data stored in the memory to locate a maneuver location at which a space requirement for performing the maneuver is met;and initiating at least semi-autonomous driving of the vehicle to the maneuvering location;

[0008] The request to perform the maneuver can be received after the representation of the environmental data has been stored in memory. Advantageously, environmental data already stored in memory can be searched for the maneuver location. Advantageously, the maneuver location can be found in environmental data present in memory.

[0009] The environmental data may already be stored in memory when the request to perform the maneuver is received. Advantageously, it is not necessary to know the need to perform the maneuver before storing the environmental data.

[0010] The maneuver can be a vehicle overtaking maneuver. If a vehicle is unexpectedly encountered, a vehicle overtaking location can be advantageously found.

[0011] The control means is optionally arranged to search the representation of the environmental data stored in the memory corresponding to the environment outside a current range of the environmental detection means for the maneuver location. Advantageously, the maneuver location can be found outside the range of the environmental detection means.

[0012] Optionally, the environment sensing means comprises one or more of the following: a radar-based terrain ranging system, a laser-based terrain ranging system, a plurality of ultrasonic sensors, a structured light camera, or a monocular camera with Structure from Motion. The input means may include, but is not limited to, a user interface. The control means may comprise one or more of the following: an electronic control unit (ECU), a controller, and an (electronic) processor.

[0013] The use of such a system may advantageously enable the autonomous maneuvering functionality of a vehicle to be used when the vehicle does not have sufficient space to perform a maneuver at its current location.

[0014] The space requirement may include: a requirement that the road width exceed a minimum safe road width, a requirement that at least a minimum safe road width is maintained for a minimum longitudinal distance from the maneuvering location, or a requirement that, for a portion of the road around the maneuvering location, the road width exceeds a variable minimum safe road width, the minimum being varied as a function of the longitudinal distance from the maneuvering location.

[0015] In one embodiment, the control means is configured to calculate the space required to perform the maneuver. Optionally, the system comprises vehicle detection means, wherein the vehicle detection means is in communication with the control means and is configured to generate an output relating to a size of another vehicle, wherein the control means is configured to calculate the space required of the maneuver depending on the output relating to the size of the other vehicle. The maneuver may comprise maneuvering the vehicle to a location allowing sufficient space to overtake the other vehicle. This is particularly advantageous in situations where a vehicle encounters an oncoming vehicle when the road or path is too narrow for the vehicles to overtake, as reversing the vehicle to a suitable overtaking location can be a particularly difficult maneuver.

[0016] Optionally, the vehicle detection means comprises one or more cameras. Advantageously, a camera can provide data that can be used to identify the vehicle type of an oncoming vehicle.

[0017] In one embodiment, the control means is configured to identify a vehicle type of the other vehicle using the output from the vehicle detection means and to determine the space requirement of the maneuver depending on the identified vehicle type. Optionally, determining the space requirement of the maneuver depending on the identified vehicle type comprises calculating the size of the other vehicle by referring to a lookup table containing vehicle dimensions for a plurality of different vehicle types. Advantageously, more information about the size of an oncoming vehicle can be derived from the vehicle type than could be derived by image recognition or other object detection methods.

[0018] Optionally, the environment sensing means comprises one or more of the following: a radar-based terrain ranging system, a laser-based terrain ranging system, a plurality of ultrasonic sensors, a structured light camera, or a monocular Structure from Motion camera. Advantageously, at least some of these systems may provide alternative functionality in addition to their use in the system of the present invention. For example, one or more of the above systems may provide data to an adaptive cruise control (ACC) system or a parking assistance system of the vehicle.

[0019] In one embodiment, the environment detection means is configured to generate a point cloud representation of the environment in the vicinity of the vehicle, and the environment data comprises a point cloud representation of a portion of the environment over which the vehicle has traveled. Such a representation can provide a useful three-dimensional representation of the environment surrounding the vehicle.

[0020] Optionally, the system is configured to begin recording environmental data in response to one or more of the following: a user input instructing the system to begin recording environmental data; an automatic determination that the vehicle is traveling on a narrow route; and an automatic determination that the vehicle is traveling on a route for which map data is not available. This can avoid the storage of excessively large data sets while ensuring that sufficient environmental data is available in situations where the system of the present invention is likely to be used. Alternatively, the system is configured to continuously record environmental data during operation of the vehicle. Data may be deleted a predetermined time after being saved, or when the amount of data stored by the system exceeds a predetermined amount.Preferably, data recorded a long time ago is deleted before more recent data.

[0021] In one embodiment, the maneuver involves turning the vehicle so that it is facing substantially the opposite direction. This can be particularly advantageous in situations where the vehicle is traveling along a narrow path and finds the route ahead blocked by an immovable object, such as a fallen tree.

[0022] Optionally, the environment sensing means comprises a first group of one or more sensors, wherein the vehicle sensing means comprises a second group of one or more sensors, and at least one of the sensors in the second group of sensors is also in the first group of sensors. This can reduce the total number of sensors required by the system, thereby reducing the cost of the system.

[0023] Optionally, the environmental sensing means comprises one or more environmental sensors configured to obtain environmental data, and the control means is a control device comprising an electronic processor electrically coupled to an electronic memory, the electronic memory having instructions stored thereon, the processor being configured to access the electronic memory and execute the instructions stored thereon such that it is operable to instruct, at least periodically along a path of the vehicle, the electronic memory to store a representation of the environmental data, the processor having an (optionally electrical) input for receiving, via the input means, a request to perform a maneuver, and the input means comprising a user interface.

[0024] Optionally, the electronic memory comprises a first electronic storage device and a second electronic storage device, and wherein the instructions are stored on the first electronic storage device and the representation of the environmental data is stored on the second electronic storage device.

[0025] Optionally, the environmental sensors output an electrical signal indicative of the environmental data, and wherein the electronic processor has an electrical input for receiving the electrical signal indicative of the environmental data.

[0026] The control means may be arranged to store the representation of the environmental data along at least a portion of the vehicle's path in the memory. The control means may be arranged to search the representation of the environmental data stored in the memory along at least a portion of the vehicle's path.

[0027] According to a further aspect of the present invention, a control device for a driver assistance system of a vehicle is provided, comprising: an input means for receiving environmental data from one or more environmental detection means, wherein the environmental data indicates an environment near the vehicle; a control means arranged to store, at least periodically along a path of the vehicle, a representation of the environmental data in a memory accessible to the control device; wherein the control means is arranged, in dependence on receiving an input indicating a request to perform a vehicle maneuver, to search the representation of the environmental data stored in the memory for a maneuver location along the path of the vehicle at which a space requirement for performing the vehicle maneuver is met;and to initiate at least semi-autonomous driving of the vehicle to the maneuvering location.;

[0028] The input indicating the request to perform the vehicle maneuver may be received after the environmental data is stored in the memory.

[0029] Optionally, the maneuver is a vehicle overtaking maneuver.

[0030] According to another aspect of the present invention, a method of operating a vehicle is provided, comprising: storing environmental data in a memory at least periodically along a path of the vehicle, the environmental data indicative of an environment proximate the vehicle; and in response to receiving an input indicative of a request to perform a vehicle maneuver: searching the environmental data stored in the memory for a maneuver location along the path of the vehicle at which a space requirement for performing the maneuver is met; and initiating at least semi-autonomous driving of the vehicle to the maneuver location.

[0031] The input indicating the request to perform the vehicle maneuver is received after the environmental data is stored in the memory.

[0032] The maneuver may be a vehicle overtaking maneuver.

[0033] The environmental data stored in the memory corresponding to the environment outside a current range of environmental sensing means associated with the vehicle can be searched for the maneuver location.

[0034] According to a further aspect of the present invention, a computer program product is provided which is executable on a processor to implement a method as described above.

[0035] According to another aspect of the present invention, there is provided a non-transitory computer-readable medium including computer-readable code that, when executed by a computer, causes a vehicle to perform a method as described above.

[0036] According to a further aspect of the present invention, a processor is provided arranged to implement a method or a computer program product as described above.

[0037] According to another aspect of the present invention, a vehicle is provided that includes a system, a control device, a computer program product, a non-transitory computer-readable medium, or a processor as described above.

[0038] According to another aspect of the present invention, systems and methods are provided for enhancing autonomous control of vehicles by storing environmental data while the vehicle is driving and subsequently searching the environmental data for a suitable location to perform an autonomous maneuver after a user has requested that the vehicle perform an autonomous maneuver. Embodiments of the invention provide systems and methods for locating the suitable location and initiating at least semi-autonomous driving of the vehicle to the suitable location.

[0039] Within the scope of this application, it is expressly intended that the various aspects, embodiments, examples, and alternatives presented in the preceding paragraphs, in the claims, and / or in the following description and drawings, and in particular their individual features, may be considered independently of one another or in any combination with one another. This means that all embodiments and / or features of any embodiment may be combined in any manner and / or in any combination, provided these features are not 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 depend on and / or incorporate any feature of any other claim even though it has not been so claimed before. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] One or more embodiments of the invention will now be described by way of example only with reference to the accompanying drawings, in which: Fig. 1 is a block diagram of a system for a vehicle in one embodiment of the present invention; Fig. 2 is a graphical representation of a digital map generated by a system in embodiments of the present invention; Fig. 3 is a flowchart illustrating a method of operating a vehicle in one embodiment of the present invention; Fig. 4 is a flowchart illustrating a method of operating a vehicle in another embodiment of the present invention; and Fig. 5 a vehicle in an embodiment of the present invention. DETAILED DESCRIPTION

[0041] Fig. 1 shows a system 10 in one embodiment of the present invention, and Fig. 5 shows a vehicle 100 in which the Fig. 1 can be installed. The system 10 comprises a control means 12, which in the illustrated embodiment is an autonomous maneuver (AM) controller. The AM control means 12 comprises a storage means in the form of an electronic memory 14 and a processing means 16 communicatively connected to the electronic memory. In the illustrated embodiment, the processing means is a processor. The AM control means 12 has an input means comprising one or more electrical inputs arranged to communicate with one or more sensing means. In the illustrated embodiment, the sensing means comprises one or more environmental sensors 18 configured to receive information regarding the environment surrounding the vehicle and to generate environmental data indicative of the received information regarding the environment surrounding the vehicle.The environmental sensors may include a radar-based terrain ranging system, a laser-based terrain ranging system, a plurality of ultrasonic sensors, a structured light camera, or a monocular Structure from Motion camera, and may also provide data to other vehicle systems, such as an adaptive cruise control system or a parking assistance system.

[0042] The AM controller 12 is coupled to user input means in the form of a user interface 38 such that signals indicative of an input provided by a user at the user interface can be transmitted to the AM controller 12. The user interface 38 may be a touchscreen or other suitable user interface, such as a voice input or gesture recognition interface. In any event, the user interface 38 is configured to receive an input indicative of a user request that the vehicle perform an autonomous maneuver and transmit a signal indicative of such a request to the AM controller 12.Upon receiving the request to perform an autonomous maneuver, the AM controller 12 is configured to initiate autonomous control of a vehicle 100 by communicating with the steering system controller 26 and, in some embodiments, the powertrain system controller 32. The steering system controller 26 and, in some embodiments, the powertrain controller 32 are both communicatively coupled to the AM controller 12.

[0043] The steering system controller 26 includes a processor 28 and an electronic memory 30 and is communicatively coupled to an actuator means of a power steering system 22, such as an electric motor or hydraulic system. The steering system controller 26 is configured to provide electrical inputs to the actuator of the power steering system 22 to thereby control the steering of a vehicle 100.

[0044] The powertrain system controller 32 includes a processor 34 and an electronic memory 36 and is communicatively coupled to one or more powertrain controller actuators 24. For example, the powertrain system controller may be communicatively coupled to a linear actuator configured to control an accelerator pedal of the vehicle 100 and a linear actuator configured to control a brake pedal of the vehicle 100. In some embodiments, particularly embodiments where the vehicle 100 has a manual transmission, the powertrain system controller may also be configured to control actuators that control a clutch pedal and / or a gear selector of the vehicle 100.The powertrain system controller 26 is configured to provide inputs to the actuators that control the pedals and / or the vehicle's gear selector, thereby controlling the powertrain of a vehicle 100. Alternatively, the powertrain system controller 32 may not be operable to directly control the pedals and may instead provide inputs directly to the systems controlled depending on the position of the pedals.For example, in vehicles having a powertrain controller for an electronic throttle pedal, in which the user's inputs to the pedals are converted into electrical signals indicative of the position of the pedals, the powertrain system controller 32 may provide electrical signals to the systems controlled by the pedals, which signals may replace the signals indicative of the position of the pedals when the vehicle is operated in an autonomous mode thereof.

[0045] Although the Fig. 1 depicts an AM controller 12 communicatively coupled to the powertrain system controller 32, it will be understood that in some embodiments, the system is not operable to provide inputs to the powertrain system controller 32, and indeed, a powertrain system controller 32 may not be provided as part of the system 10. In such embodiments, the user may maintain control of the accelerator and brake pedals (and also the clutch pedal and gear selector for vehicles with manual transmissions) during autonomous maneuvers. The vehicle may provide instructions to the user regarding what powertrain control inputs are required from them to complete the maneuver.

[0046] Upon receiving a request to perform an autonomous maneuver from the user interface 38, the AM controller 12 is configured to determine a first zone of terrain surrounding the vehicle such that the first zone includes only terrain that the controller 12 has determined the vehicle can travel on. The AM controller 12 only includes terrain in the first zone if it has determined that the terrain is suitable for the vehicle to travel on with a sufficiently high level of confidence.

[0047] The first zone is typically defined depending on environmental data received from environmental sensors 18. In the illustrated embodiment, the environmental sensing means 18 comprises a plurality of scanning lasers arranged to generate a point cloud representation of the terrain surrounding the vehicle, as well as any obstacles that may be present in the vicinity of the vehicle. It should be understood that a single scanning laser could equally well be used to generate a point cloud representation of the environment surrounding a vehicle. However, the use of more than one scanning laser can improve the speed at which such a representation can be generated and can provide a larger field of view than a single scanning laser.

[0048] According to embodiments of the present invention, the AM controller 12 may be configured to receive environmental data from environmental sensors 18 while the vehicle 100 is traveling, whether autonomously or otherwise. Such environmental data may be stored in the electronic memory 14 or another computer-readable storage device. As explained in more detail below, the storage of environmental data may be initiated by a user input to instruct the system to begin recording environmental data or in response to an automatic determination that the vehicle is traveling on a narrow route or a route for which map data is unavailable. Recording environmental data may allow the AM controller to define a first zone that includes terrain that is not currently within range of the environmental sensors 18 when environmental data has been recorded.

[0049] Fig. Figure 2 shows a graphical representation of a digital map generated by the system 10 of the present invention installed in a vehicle 100. In the Fig. 2, the recording of environmental data was initiated when the vehicle was near a line 56, and the system stored environmental data indicating the environment near the vehicle as it traveled from its position at which recording was initiated to the position shown in Fig. 2 shown position. In the position shown in Fig. 2, lines 54 and 52 indicate lane edges, which could be one or more of the following: raised curbs, roadside ditches, ditches, cliffs, or any other linear boundary that the vehicle 100 cannot or should not cross. As shown in Fig. 2, the forward path (i.e., generally from left to right) of the vehicle 100 is blocked by an obstacle 102, which is an oncoming vehicle 102 that is too large to allow the vehicle 100 to overtake without crossing one of the lane edges 52, 54 in the illustrated embodiment. However, it should be understood that the present invention may also be useful in situations where a path is blocked by another obstacle, such as a parked vehicle or a fallen tree. Since the vehicle 100 is in the position represented by the digital map in Fig. 2, a user may request that the vehicle perform an autonomous maneuver. For example, if the obstacle 102 is an oncoming vehicle, the user may request that the vehicle back to a suitable location to allow the oncoming vehicle to overtake. Alternatively, the user may request that the vehicle perform a U-turn so that it can search for an alternative route.

[0050] As in Fig. 2, the distance between the lane edges 52, 54 near the current position of the vehicle 100 is too small to allow the vehicle 100 in which the system 10 is installed to overtake the oncoming vehicle 102 or to allow the oncoming vehicle 102 to overtake the vehicle 100. Furthermore, the distance between the lane edges 52, 54 is too small for the vehicle 100 to perform a U-turn at its current location. After detecting that the lane is too narrow for the vehicles 100, 102 to overtake each other, a user of the vehicle 100 can input a request via the user interface 38 for the vehicle to perform an autonomous maneuver. For example, the user may enter a request that the vehicle travel to a passing location, ie, a location that allows the oncoming vehicle 102 to overtake the vehicle 100.This can be interpreted as a request that the vehicle 100 maneuver to the side of the lane while leaving sufficient space for the oncoming vehicle 102 to overtake.

[0051] If the vehicle is at the Fig. 2, the system 10 can determine the Fig. 3. The method is initiated at step 202 and then proceeds to step 204 when a user request to autonomously drive the vehicle to a passing location is received, for example, via user interface 38. Upon receiving a request to drive autonomously to a passing location, the method proceeds to step 206, where the system determines a size of the oncoming vehicle. This may be accomplished by sensing the width of the oncoming vehicle using environmental sensor 18 or another sensor. Alternatively, the system may have access to a database of dimensions of common vehicle types, which may be stored in an onboard storage device or in a cloud storage location accessible to the system.In this case, the environmental sensor 18 or another sensor, such as a forward-facing camera, may be arranged to determine the type of oncoming vehicle, and then the system may detect a signal indicative of the type of oncoming vehicle and determine the width and / or length of the oncoming vehicle by reference to the database. If the system is unable to accurately determine a size of the oncoming vehicle at step 206, then the method may proceed based on an assumed vehicle size, which may be representative of a large vehicle, to ensure that the likelihood of the system identifying an inappropriate overtaking location is reduced. Alternatively, the system may prompt the user to provide input indicating the approximate size of the oncoming vehicle.

[0052] Once the system has determined a size of the oncoming vehicle, the method continues with step 208, where the system uses the environmental data stored on the Fig. 2, for a suitable overtaking location. From the environmental data, the system can identify a first zone 60 bounded by lane edges 52, 54, which represent boundaries that the system has determined the vehicle should not cross, and lines 56 and 58, which represent boundaries beyond the environmental data no longer available. The first zone 60 represents driving terrain, i.e., terrain that the system has determined to be suitable for driving. In step 208, the system searches the first zone 60 for an area of ​​driving terrain sufficiently large to allow the vehicle 100 and the oncoming vehicle 102 to safely overtake each other.For example, the system may determine a space requirement, which is a required path width maintained for a required path length, where the width and length may be determined depending on the determined size of the oncoming vehicle 102 and the size of the host vehicle 100. The system may then search the first zone for a location that meets the space requirement. In the area shown in . Fig. 2, the first zone 60 expands in the area indicated by arrow 62. Accordingly, in step 208, the system determines that an overtaking location exists in the area indicated by arrow 62.

[0053] Once the system has identified a suitable overtaking location, the system initiates at least a semi-autonomous drive of the vehicle to the overtaking location in step 210. The method then ends at step 212 once the vehicle has been driven to the overtaking location.

[0054] In some embodiments, the system may offer the user the option of having the vehicle autonomously perform a non-overtaking maneuver, such as a U-turn, and the vehicle may be operable to autonomously drive the vehicle to a suitable location if sufficient space is not available to perform the maneuver at the vehicle's current location. The ability to perform an autonomous maneuver, such as an autonomous U-turn, may be provided in addition to, or instead of, the ability to autonomously drive the vehicle to a passing location. It will be appreciated that an autonomous U-turn may be particularly useful in situations where the vehicle encounters an obstruction, such as a parked vehicle or a fallen tree in a narrow lane.

[0055] A method 220 for performing an autonomous non-overtaking maneuver is described in Fig.4. The method begins at step 222 and proceeds to step 224 when input indicative of a user request to perform an autonomous maneuver is received, for example, via user interface 38. Upon receipt of the input indicative of a user request to perform an autonomous maneuver, the method proceeds to step 226 where the system determines a space requirement of the maneuver. For a U-turn, the space requirement may be a requirement that an area of ​​driving terrain exceeding a predetermined lane width for a predetermined lane length be available. The predetermined lane width and length may be based on vehicle dimensions and turning capability and may be representative of the smallest area in which the vehicle can perform an autonomous U-turn.In fact, the required lane width may vary depending on the lane length measured from a given reference surface, since the maximum width is only needed for a relatively small portion of the required area. In some embodiments, the system may directly calculate the space requirement each time an autonomous non-overtaking maneuver is requested. Alternatively, the system may have access to a database containing the space requirements for all autonomous non-overtaking maneuvers for which the system is operable to initiate execution.

[0056] Once the space requirement has been determined, the method proceeds to step 228, where the system searches the stored environmental data for a suitable maneuvering location that meets the space requirement determined in step 226. Once a suitable maneuvering location has been identified, the method proceeds to step 230, where the system initiates autonomous driving of the vehicle to the maneuvering location. The method then proceeds to step 232, where the system initiates execution of the autonomous maneuver requested in step 222. Once the autonomous maneuver is completed, the method ends at step 234.

[0057] It should be understood that embodiments of the present invention may be implemented in the form of hardware, software, or a combination of hardware and software. Such software may be stored in the form of volatile or non-volatile storage, such as a storage device such as ROM, whether erasable or rewritable or not, or in the form of memory such as RAM, memory chips, devices, or integrated circuits, or on an optically or magnetically readable medium such as a CD, DVD, magnetic disk, or magnetic tape. It should be noted that the storage devices and storage media are embodiments of machine-readable memory suitable for storing a program or programs that, when executed, implement embodiments of the present invention.Accordingly, embodiments provide program code, including code for implementing a system or method as claimed in any of the appended claims, and a machine-readable memory storing such a program. Furthermore, embodiments of the present invention may be transmitted electronically via any medium, such as a communication signal transmitted over a wired connection or a wireless connection, and embodiments may incorporate such.

[0058] All of the features disclosed in this specification (including any accompanying claims, abstract, and drawings) and / or all of the steps of any such disclosed methods or processes may be combined in any way, except for combinations in which at least some of these features and / or steps are mutually exclusive.

[0059] Any feature disclosed in this specification (including any accompanying claims, abstract, and drawings) may be replaced by alternative features that serve the same, corresponding, or similar purpose, unless expressly stated otherwise. Thus, unless expressly stated otherwise, each disclosed feature is merely one example of a generic series of corresponding or similar features.

[0060] The invention is not limited to the details of any of the above embodiments. The invention extends to any novel feature or combination of features disclosed in this specification (including any accompanying claims, the abstract, and drawings) or to any novel feature or combination of the steps of any method or process so disclosed. The claims should not be construed to cover only the above embodiments, but also to cover any embodiments that fall within the scope of the claims.

Claims

[1] Driver assistance system (10) for a vehicle (100), comprising: Environment detection means (18) configured to obtain environment data, the environment data indicating an environment near the vehicle (100); an input means configured to receive a request to perform a maneuver; a control means (12) having access to a memory (14), wherein the control means (12) is configured to store a representation of the environmental data in the memory (14) at least periodically along a path of the vehicle (100), and a vehicle detection means connected to the control means (12) and configured to generate an output relating to the size of another vehicle, wherein the control means (12) is communicatively coupled to the input means and, upon receiving a request to execute a maneuver via the input means, is configured to: Searching, using stored environmental data associated with a path traveled by the vehicle (100), the representation of the environmental data stored in the memory (14) to locate a maneuver location at which a space requirement for performing the maneuver is met; Initiating at least semi-autonomous driving of the vehicle (100) to the maneuvering location; and Calculating the space required to perform the maneuver, depending on the output regarding the size of another vehicle (100). [2] Driver assistance system according to claim 1, wherein the request to execute the maneuver is received after the display of the environmental data stored in the memory (14). [3] A driver assistance system according to claim 1 or claim 2, wherein the maneuver is a vehicle overtaking maneuver. [4] Driver assistance system according to claim 1, 2 or 3, wherein the control means (12) is arranged to search the representation of the environmental data stored in the memory (14) corresponding to the environment outside a current range of the environment detection means (18) for the maneuver location. [5] Driver assistance system according to one of the preceding claims, wherein the maneuver comprises maneuvering the vehicle (100) to a location that provides sufficient space for the other vehicle to overtake. [6] Driver assistance system according to one of the preceding claims, wherein the vehicle detection means comprises one or more cameras. [7] Driver assistance system according to one of the preceding claims, wherein the control means (12) is configured to identify a vehicle type of the other vehicle using the output of the vehicle detection means and to determine the space requirement of the maneuver depending on the identified vehicle type. [8] A driver assistance system according to claim 7, wherein determining the space requirement of the maneuver depending on the identified vehicle type comprises calculating the size of the other vehicle by referring to a lookup table containing vehicle dimensions for a plurality of different vehicle types. [9] Driver assistance system according to one of the preceding claims, wherein the environment detection means (18) comprise one or more of the following: a radar-based terrain distance measuring system, a laser-based terrain distance measuring system, a plurality of ultrasonic sensors, a structured light camera or a monocular camera with structure from motion. [10] Driver assistance system according to one of the preceding claims, wherein the environment detection means (18) are configured to generate a point cloud representation of the environment in the vicinity of the vehicle (100), and the environment data comprises a point cloud representation of a portion of the environment over which the vehicle (100) has traveled. [11] Driver assistance system according to one of the preceding claims, wherein the system (10) is configured to begin storing the representation of the environmental data in response to one or more of the following: a user input instructing the system (10) to begin recording environmental data; an automatic determination that the vehicle (100) is traveling on a narrow route; and an automatic determination that the vehicle (100) is traveling on a route for which no map data is available. [12] Driver assistance system according to one of the preceding claims, wherein the system (10) is configured to store the representation of the environmental data in the memory (14) continuously during operation of the vehicle (100). [13] Driver assistance system according to one of the preceding claims, wherein the maneuver comprises turning the vehicle (100) so that it points substantially in the opposite direction. [14] Driver assistance system according to one of the preceding claims, wherein the environment detection means (18) comprises a first group of one or more sensors, the vehicle detection means comprises a second group of one or more sensors and at least one of the sensors in the second group of sensors is also in the first group of sensors. [15] Driver assistance system according to one of the preceding claims, wherein: the environmental sensing means (18) comprises one or more environmental sensors configured to obtain environmental data; the control means (12) is a control device comprising an electronic processor (28, 34) electrically connected to an electronic memory (14, 30, 36), the electronic memory (14, 30, 36) having instructions stored therein, the processor (28, 34) being configured to access the electronic memory (14, 30, 36) and execute the instructions stored therein such that it is operable to instruct the electronic memory (14, 30, 36) to store a representation of the environmental data at least periodically along a path of the vehicle (100), wherein the processor (28, 34) has an input for receiving a request to perform a maneuver via the input means, and the input means comprises a user interface (38). [16] Driver assistance system according to claim 15, wherein the electronic memory (14, 30, 36) comprises a first electronic storage device and a second electronic storage device, and wherein the instructions are stored on the first electronic storage device and the representation of the environmental data is stored on the second electronic storage device. [17] A driver assistance system according to claim 15 or 16, wherein the environmental sensors output an electrical signal indicative of the environmental data, and wherein the electronic processor (28, 34) has an electrical input for receiving the electrical signal indicative of the environmental data. [18] Control device for a driver assistance system of a vehicle (100), comprising: an input means for receiving environmental data from one or more environmental sensing means, the environmental data indicating an environment near the vehicle (100); a control means (12) arranged to store, at least periodically along a path of the vehicle (100), a representation of the environmental data in a memory (14) accessible to the control device; a vehicle detection means connected to the control means (12) and configured to generate an output relating to the size of another vehicle, wherein the control means (12) is arranged, in response to receiving an input indicating a request to perform a vehicle maneuver, to search the representation of the environmental data stored in the memory (14) for a maneuver location along the path of the vehicle (100), using stored environmental data associated with a path traveled by the vehicle (100) at which a space requirement for performing the vehicle maneuver is met; Initiating at least semi-autonomous driving of the vehicle (100) to the maneuvering location; and Calculate the space required to perform the maneuver, depending on the output regarding the size of another vehicle. [19] The control device of claim 18, wherein the input indicating the request to perform the vehicle maneuver is received after storing the environmental data in the memory (14). [20] Control device according to claim 18 or 19, wherein the maneuver is a vehicle overtaking maneuver. [21] A method (200) for operating a vehicle (100), comprising: at least periodically along a path of the vehicle (100), storing environmental data in a memory (14), the environmental data indicating an environment near the vehicle (100); generating (206) an output relating to the size of another vehicle, and in response to receiving an input indicating a request to perform a vehicle maneuver: searching (208), using stored environmental data associated with a path traveled by the vehicle (100), the environmental data stored in the memory (14) for a maneuver location along the path of the vehicle (100) at which a space requirement for performing the maneuver is met; Initiating (210) at least semi-autonomous driving of the vehicle (100) to the maneuvering location; and Calculate the space required to perform the maneuver, depending on the output regarding the size of another vehicle. [22] The method (200) of claim 21, wherein the input indicating the request to perform the vehicle maneuver is received after storing the environmental data in the memory (14). [23] The method (200) of claim 21 or 22, wherein the maneuver is a vehicle overtaking maneuver. [24] The method (200) of claim 21, 22 or 23, wherein the environmental data stored in the memory (14) corresponding to the environment outside a current range of the environmental sensing means (18) associated with the vehicle (100) are searched for a maneuver location. [25] A computer program product executable on a processor (28, 34) to implement a method (200) according to any one of claims 21 to 24. [26] A non-transitory computer-readable medium carrying computer-readable code that, when executed, causes a vehicle (100) to perform the method (200) of any one of claims 21 to 24. [27] Processor (28, 34) arranged to implement the method (200) according to any one of claims 21 to 24 or the computer program product according to claim 25. [28] A vehicle (100) comprising a system (10) according to any one of claims 1 to 17, a control device according to any one of claims 18 to 20, a computer program product according to claim 25, a non-transitory computer-readable medium according to claim 26, or a processor (28, 34) according to claim 27.

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