Apparatus and methods for manoeuvring a trailer

Abstract

Aspects of the present invention relate to a control system for a trailer manoeuvring system of a vehicle, the control system comprising one or more processors collectively configured to receive (720), from a display device displaying a graphical user interface (820, 920), data indicative of an angle input at the graphical user interface indicative of a request for a manoeuvring angle of a trailer with respect to an axis of the vehicle, receive (730) a signal (415, 425, 435, 436) indicative of a movement direction of the vehicle (100), output (750) a first movement control signal (426) to control movement of one or more wheels of the vehicle to cause the trailer to move toward the manoeuvring angle as the vehicle moves in the movement direction.

Description

[0001] Apparatus and Methods for Manoeuvring a Trailer

[0002] TECHNICAL FIELD

[0003] The present disclosure relates to apparatus and methods for manoeuvring a trailer. Aspects of the invention relate to a control system, to a system, to a vehicle, to a method and to computer software.

[0004] BACKGROUND

[0005] Manoeuvring a trailer with a vehicle is subjectively regarded as one of the most difficult aspects of using a trailer. The perceived difficult particularly arises from a need to understand a direction in which to turn a vehicle’s steering wheel to cause a desired direction of rotation of the trailer when reversing, i.e. driver turns left to cause the trailer to turn right, which is not instinctive for most drivers and therefore can seem stressful. Furthermore, a driver may not be able to see fully behind the vehicle, and may lose a mental track of an angle between a drawbar of the trailer and a rear of the towing vehicle. When this occurs a collision between the vehicle and the trailer may occur. Even a rear view camera of the vehicle may not avoid this completely since the drawbar region may not be fully visible in an image from such a camera.

[0006] It is known to provide apparatus and methods which assist in manoeuvring a trailer with a vehicle. It is an aim of the present invention to address one or more of the disadvantages associated with the prior art.

[0007] SUMMARY OF THE INVENTION

[0008] Aspects and embodiments of the invention provide a control system, a system, a vehicle, a method, and computer software as claimed in the appended claims.

[0009] According to an aspect of the present invention there is provided a control system for a trailer manoeuvring system of a vehicle, the control system comprising one or more processors collectively configured to receive, from a display device displaying a graphical user interface, data indicative of a desired location of a frailer, and to output a first movement control signal to control movement of one or more wheels of the vehicle to cause the frailer to move toward the desired location. Advantageously the one or more wheels are controlled to move the frailer toward the desired location. Advantageously the vehicle is controlled automatically to move the frailer toward the desired location.

[0010] According to an aspect of the present invention there is provided a control system for a frailer manoeuvring system of a vehicle, the control system comprising one or more processors collectively configured to receive, from a display device, angle data indicative of an angle input at a graphical user interface, receive a direction signal indicative of a movement direction of the vehicle, output a first movement control signal to control movement of one or more wheels of the vehicle to cause the trailer to move toward the manoeuvring angle. Advantageously the one or more wheels are controlled to move the trailer toward the manoeuvring angle. Advantageously the vehicle is controlled automatically to move the frailer toward the manoeuvring angle.

[0011] According to an aspect of the present invention there is provided a control system for a trailer manoeuvring system of a vehicle, the control system comprising one or more processors collectively configured to receive, from a display device displaying a graphical user interface, angle data indicative of an angle input at the graphical user interface indicative of a request for a manoeuvring angle of a trailer with respect to an axis of the vehicle, receive a direction signal indicative of a movement direction of the vehicle, and output a first movement control signal to control movement of one or more wheels of the vehicle to cause the trailer to move toward the manoeuvring angle as the vehicle moves in the movement direction. Advantageously the one or more wheels are controlled to move the frailer toward the manoeuvring angle. Advantageously the vehicle is controlled automatically to move the frailer toward the manoeuvring angle.

[0012] The control system comprises one or more electronic processors collectively comprising at least one electrical input for receiving an input signal. The control system may comprise at least one memory device electrically coupled to one or more electronic processors and having instructions stored therein; and wherein the one or more electronic processors are configured to access the at least one memory device and execute the instructions thereon so as to receive, from the display device displaying a graphical user interface, the angle data indicative of the angle input at the graphical user interface indicative of the request for the manoeuvring angle of the frailer with respect to the axis of the vehicle, receive the direction signal indicative of the movement direction of the vehicle, and output the first movement control signal to control movement of the one or more wheels of the vehicle to cause the trailer to move toward the manoeuvring angle as the vehicle moves in the movement direction.

[0013] The movement direction may be a longitudinal direction of the vehicle. Advantageously the vehicle moves in the longitudinal direction to cause angular movement of the trailer. The movement direction may be one of a forward or reverse direction of the vehicle. The one or more wheels may be steering wheels of the vehicle. The controller may control a road wheel angle (RWA) of the wheels via the first movement control signal. Advantageously an angle of the steering wheels is controlled to manoeuvre the frailer.

[0014] The graphical user interface may be arranged to display a visual representation of at least a portion of the frailer, and receive the request for the manoeuvring angle of the frailer with respect to the visual representation of the at least a portion of the frailer. Advantageously the graphical user interface allows the user to appreciate the manoeuvring angle. The manoeuvring angle may be a desired angular orientation of the frailer.

[0015] Optionally, when the movement direction is a reverse direction of the vehicle, the first movement control signal is arranged to control the movement of the one or more steering wheels of the vehicle to move in an opposing direction to the manoeuvring angle. Advantageously counter steering of the steering wheels is automatically provided, which assists the user.

[0016] When the manoeuvring angle is to a right-hand side of the vehicle, the one or more steering wheels of the vehicle may be steered toward a lefthand side of the vehicle. When the manoeuvring angle is to a left-hand side of the vehicle, the one or more steering wheels of the vehicle may be steered toward a right-hand side of the vehicle. Advantageously the opposing direction of steering is provided automatically to assist the user.

[0017] The display device is optionally a portable user device. Advantageously the graphical user interface may be operated external to the vehicle. The display device is optionally a display device within the vehicle. Advantageously the graphical user interface may be operated from within the vehicle.

[0018] The signal indicative of the movement direction of the vehicle may be received at the graphical user interface, and the control system is configured to output a second movement control signal to cause longitudinal movement of the vehicle in the movement direction. The second movement control signal may control rotation of one of more wheels of the vehicle. The second movement control signal may control powertrain of the vehicle. The second movement control signal may cause the vehicle to move in the movement direction.

[0019] The control system may be configured to receive manual control data indicative of a manual control input for the vehicle and, in dependence thereon, to cease outputting the second movement control signal. Advantageously the movement of the vehicle changes to being manually controlled.

[0020] The manual control input may be indicative of a movement of the vehicle opposed to the manoeuvring direction. Advantageously the user may initiate movement of the vehicle in the opposite direction to assume manual control.

[0021] The control system may be configured to receive, from the display device, resume data indicative of a resume input at the graphical user interface and, in dependence thereon, to resume outputting the second movement control signal. Advantageously the movement of the vehicle resumes being automatically controlled.

[0022] Thus the first, and counter-intuitive, objective to achieve, at least when reversing, (namely, a specific angular orientation of the trailer with respect to the vehicle, and which is clearly apparent as necessary to position the trailer in a specific desired location, at some angle to the vehicle, but not intuitive for everyone to achieve) is achieved by application of the control system described herein. Continued movement of the vehicle and frailer, when at the desired initial relative angle between them, may not be appropriate to achieve the ultimately desired location for the frailer. However, either manual intervention of the vehicle’s steering and driving controls, and / or updating of the requested angle, can ultimately achieve positioning of the trailer at a desired location.

[0023] The control system is optionally configured to detect, using a sensor system associated with the vehicle, an object in an environment of the vehicle, and display, on the graphical user interface, an indication of the detected object in relation to the vehicle. Advantageously the user may provide the angle input in dependence on the location of the object.

[0024] The control system is optionally configured to detect, using a sensor system associated with the vehicle, that the vehicle will collide with an object in the environment around the vehicle if it continues in a current direction and to output a second movement end signal to cause the vehicle to stop moving in dependence on the object being detected. Advantageously the vehicle stops before colliding with the object.

[0025] The control system may transmit, to the display device, data indicative of the detected object, wherein the data causes the display device to display an indication that the vehicle has been stopped because of the detected object on the graphical user interface.

[0026] The control system may detect, using the sensor system of the vehicle, that the object has been removed, and output the second movement control signal to cause the vehicle to move in the movement direction, and output the first movement control signal to control movement of one or more steering wheels of the vehicle to cause the trailer to move toward the manoeuvring angle as the vehicle moves in the manoeuvring direction.

[0027] The control system is optionally configured to receive, from the display device, trailer data indicative of a trailer selection input at the graphical user interface indicative of a trailer connected to the vehicle, wherein each trailer data stored within a memory of the vehicle indicates one or more dimensions of the selected trailer.

[0028] The control system may be configured to receive terrain data indicative of a terrain selection input at the graphical user interface, indicative of a change in selected terrain profile, wherein the terrain profile corresponds to one of a plurality of terrain profiles stored in the memory of the vehicle, wherein the terrain profiles include corresponding torque values to be applied to the wheels for each terrain, output a torque change control signal to cause a change in torque magnitude applied to the wheels to achieve a torque value corresponding to the selected terrain profile.

[0029] The control system is may be configured to receive, from the display device, speed data indicating a speed request input at the graphical user interface indicative of a speed at which the vehicle should move. A maximum speed of the vehicle may be limited to a preconfigured maximum speed.

[0030] The signal indicative of the movement direction may be continuously received and, in dependence on a cessation of the signal, the control system may be configured to stop the vehicle.

[0031] According to an aspect of the present invention there is provided a system comprising the control system for a trailer manoeuvring system of a vehicle connected to a trailer as described above, and a display device.

[0032] According to an aspect of the present invention there is provided a vehicle comprising the system described above.

[0033] According to an aspect of the present invention there is provided a computer-implemented method for controlling a frailer manoeuvring system of a vehicle, the method comprising receiving, from a display device displaying a graphical user interface, angle data indicative of an angle input at the graphical user interface indicative of a request for a manoeuvring angle of a trailer with respect to an axis of the vehicle, receiving a direction signal indicative of a movement direction of the vehicle, and outputting a movement control signal to control movement of one or more wheels of the vehicle to cause the frailer to move toward the manoeuvring angle as the vehicle moves in the movement direction. According to an aspect of the present invention there is provided computer readable instructions which, when executed by a computer, are arranged to perform a method according to an aspect of the invention. The computer readable instructions may be stored on a computer readable medium.

[0034] Within the scope of this application it is expressly intended that the various aspects, embodiments, examples and alternatives set out in the preceding paragraphs, in the claims and / or in the following description and drawings, and in particular the individual features thereof, may be taken independently or in any combination. That is, all embodiments and / or features of any embodiment can be combined in any way and / or combination, unless such features are incompatible. The applicant reserves the right to change any originally filed claim or file any new claim accordingly, including the right to amend any originally filed claim to depend from and / or incorporate any feature of any other claim although not originally claimed in that manner.

[0035] BRIEF DESCRIPTION OF THE DRAWINGS

[0036] One or more embodiments of the invention will now be described, by way of example only, with reference to the accompanying drawings, in which:

[0037] Figure 1 shows a vehicle according to an embodiment of the invention;

[0038] Figure 2 shows a vehicle according to an embodiment of the invention in relation to a trailer;

[0039] Figure 3 shows a control system according to an embodiment of the invention;

[0040] Figure 4 shows a system according to an embodiment of the invention;

[0041] Figure 5 illustrates a method according to an embodiment of the invention;

[0042] Figure 6 illustrates a method according to an embodiment of the invention;

[0043] Figure 7 illustrates a method according to an embodiment of the invention;

[0044] Figures 8a, b and c illustrates a graphical user interface according to an embodiment of the invention;

[0045] Figures 9a, b and c illustrates a graphical user interface according to an embodiment of the invention; and

[0046] Figure 10 illustrates a graphical user interface according to an embodiment of the invention;

[0047] DETAILED DESCRIPTION

[0048] A vehicle 100 in accordance with an embodiment of the present invention is described herein with reference to the accompanying Figure 1 . The vehicle 100 is a wheeled vehicle having a first pair of steering wheels which are controlled to steer the vehicle 100. The steering wheels are located at a front of the vehicle 100. The steering wheels are controlled to a selected road wheel angle (RWA) to steer the vehicle 100. The vehicle 100 is propelled by torque applied to one or more driven wheels to move generally longitudinally i.e. forwards or reverse. Torque to cause the longitudinal movement may be provided via the steering wheels, via non-steering wheels i.e. rear wheels, or via both pairs of wheels i.e. 4wd. It will also be appreciated that embodiments of the invention may be envisaged where all four wheels are controlled to steer the vehicle 100, wherein the rear wheels form a second pair of steering wheels. The second pair of steering wheels may be controlled to steer in an opposing direction to the first pair of steering wheels thereby improving a turning circle of the vehicle at low speed, or in a similar direction to enable a ‘crabbing’ motion of the vehicle 100. The vehicle 100 may also comprise other numbers of wheels or be a tracked vehicle, for example.

[0049] Figure 2 illustrates the vehicle 100 coupled to a trailer 200. The trailer 200 has at least one pair of wheels and is coupled via an articulated coupling 210 to the vehicle 100. Often the coupling 210 is via a tow ball attached to the vehicle 100 which is received in a socket hitch of the trailer 200 to allow articulation there-between, although other types of articulated coupling are known such as hook and ring type couplings and the present invention is not restricted to a particular type of coupling. When the vehicle 100 is moved in a forward direction, the trailer 200 generally follows the path of the vehicle 100 and is thus easier for a driver of the vehicle 100 to manoeuvre. However, in order to position the trailer 200 at a desired location generally to a rear of the vehicle 100, the driver must be aware, whilst reversing, of the direction in which to steer the vehicle 100 to achieve appropriate turning of the trailer 200. Because the trailer hitch 210 is at a front of the trailer 200 with the wheels of the trailer often being generally toward the centre of the trailer 200, the rear of the trailer 200 follows an opposite direction to the vehicle 100. That is, in reverse, steering the vehicle 100 to the left causes the rear of the trailer to move to the right and vice versa, which is not intuitive for some people. Furthermore, preventing a jack-knife collision between the trailer 200 and the vehicle 100 can be difficult.

[0050] With reference to Figure 3, there is illustrated a control system 305 for a vehicle 100 according to an embodiment of the invention. The control system 305 comprises one or more controller 300 which may be an electronic controller 300.

[0051] The control system 305 as illustrated in Figure 3 comprises one controller 300, although it will be appreciated that this is merely illustrative. The controller 300 comprises processing means 310 and memory means 320. The processing means 310 may be one or more electronic processing device 310 or processor 310 which operably executes computer-readable instructions. The memory means 320 may be one or more memory device 320. The memory means 320 is electrically coupled to the processing means 320. The memory means 320 is configured to store the computer-readable instructions, and the processing means 310 is configured to access the memory means 320 and execute the instructions stored thereon to perform a method according to an embodiment of the invention.

[0052] The controller 300 comprises an input means 330 and an output means 340. The input means 330 may comprise one or more electrical inputs 330 of the controller 300 for receiving an electrical signal 335. The output means 340 may comprise one or more electrical outputs 340 of the controller 300 for outputting an electrical signal 345. In some embodiments the input 330 and output 340 of the controller 300 may be integrated into an I / O interface of the controller 300. The I / O interface may be a network interface for communicatively connecting the controller 300 to a communication network of the vehicle 100 such as a communication bus, as will be appreciated.

[0053] Figure 4 illustrates a system 400 according to an embodiment of the invention. The system 400 comprises the controller 300 illustrated in Figure 3 which is arranged to perform a method according to an embodiment of the invention, as described below. The controller 300 may be referred to as a trailer manoeuvring controller 300 according to an embodiment of the invention. Thus the system 400 represents a trailer manoeuvring system 400 according to an embodiment of the invention. The controller 300 is arranged in some embodiments to implement one or more modules 460, 470, 480, 490 which perform aspects of the present invention as will be explained. One or more other parts of the system 400 may be formed by other controllers, systems or sensors of the vehicle 100 as will be appreciated.

[0054] The control system 400 comprises a user interface, Ul, 410 which allows a user to interface with the control system 400. The Ul 410 allows a user to provide a user input to the control system 400 and the control system 400 to output information to the user. The Ul 410 may comprise a display device 810, 910 for operatively displaying a graphical user interface, GUI, comprising a representation of at least a portion of the trailer 200 thereon under control of the trailer manoeuvring controller 300. GUIs according to embodiments of the invention are illustrated in Figures 8 and 9 as discussed below. The display device 810, 910 of the Ul 410 may be touch sensitive for receiving the user input and providing a user input signal 415 or data indicative thereof to the trailer manoeuvring controller 300. The Ul 410 may also output an audible and / or tactile output to the user in some embodiments. The Ul 410 may be arranged within an interior of the vehicle 100, such as with the Ul 410 directed toward a driver’s seating position within the vehicle 100. In particular, as will be explained, the Ul 410 may be arranged to receive an indication of a desired location of the trailer 200 which comprises an angle input indicative of a request for a manoeuvring angle of a trailer with respect to an axis of the vehicle 100. In some embodiments, the Ul 410 may receive from the user an indication of a requested movement direction corresponding to a longitudinal direction of the vehicle 100, which may be one of forward and reverse directions of the vehicle 100. The Ul 410 may provide a user input signal 415 indicative of the requested movement direction of the vehicle 100 to the controller 300.

[0055] The control system 400 comprises a vehicle actuation controller 420 for one or both of providing at least one manual actuation signal 425 indicative of actuation or movement of the vehicle 100 or components thereof under manual control of the driver to the trailer manoeuvring controller 300, or for causing actuation or movement the vehicle 100 or components thereof according to at least one actuation control signal 426 received from the frailer manoeuvring controller 300. Where the vehicle 100 is actuated or caused to move by a user or driver, i.e. under manual control of the driver, the vehicle actuation controller 420 is arranged to provide the one or more manual actuation signals 425 to the frailer manoeuvring controller 300. For example, the user may select a direction of travel for the vehicle 100 e.g. using a direction control such as a button, graphical icon, physical stalk etc, and use a control, such as an accelerator pedal of the vehicle 100, to cause the vehicle 100 to move in the selected direction, such as forward, and the vehicle actuation controller 420 provides the manual actuation signal 425 to the trailer manoeuvring controller 300 indicative of the driver controlled movement of the vehicle 100. Thus in some embodiments the manual actuation signal 425 is indicative of a manually controlled longitudinal movement of the vehicle 100. The trailer manoeuvring controller 300 is arranged to output at least one first movement control signal 426 in the form of an actuation control signal 426 to control an angular movement of one or more steering wheels of the vehicle 100. Thus the at least one actuation control signal 426 may comprise a steering actuation signal 426. The angular movement of the steering wheels controls a direction of travel of the vehicle 100. The steering actuation signal 426 may be indicative of a requested road wheel angle, RWA, of the vehicle 100. Thus the trailer manoeuvring controller 300 is arranged to output the steering actuation signal 426 to control steering movement of one or more wheels of the vehicle 100 which is operative to cause the trailer 200 to move toward a requested manoeuvring angle, as will be explained.

[0056] At some times the trailer manoeuvring controller 300 may output at least one second movement control signal 426 in the form of an actuation control signal 426 indicative of a requested longitudinal direction of movement of the vehicle 100 to cause the vehicle 100 to move in said direction, such as one of forward or reverse. The actuation control signal 426 is received by the vehicle actuation controller 420 to cause a powertrain of the vehicle 100 to provide torque to one or more driven wheels of the vehicle 100. In some embodiments, the actuation control signal 426 may comprise one or both of an indication of one or more of a requested distance of movement of the vehicle 100 e.g. 5m, 10m etc, and a requested speed of movement of the vehicle 100 e.g. 5kmtr1and / or 20m, with these figures being for illustration only.

[0057] The control system 400 comprises a trailer connection manager 428 for determining a connection of the vehicle to the trailer 200. The connection may be physical or mechanical i.e. coupling of the trailer 200 to the tow hitch of the vehicle 100, and / or electrical i.e. coupling of an electrical connector of the trailer 200 to the vehicle 100, such as inserting an electrical plug from the trailer 200 into a corresponding socket of the vehicle 100. The determination of the coupling of the trailer 200 to the tow hitch of the vehicle 100 may be in dependence on image data corresponding to a rear of the vehicle 100 to determine the mechanical coupling which may be advantageous in some situations, such as when the trailer 200 is a boat trailer and the electrical connection may need to be disconnected when the trailer 200 is being manoeuvred into water. In determination of the connection, the connection manager 428 is arranged to output a trailer connection signal 429 to the trailer manoeuvring controller 300.

[0058] Thus the trailer manoeuvring controller 300 is arranged to receive the trailer connection signal 429 to provide awareness of when the trailer 200 is connected to the vehicle 100. In dependence thereon, the trailer manoeuvring controller 300 is arranged to cause display to a trailer manoeuvring GUI. The control system 400 comprises a device connection manager 430. The trailer manoeuvring controller 300 is arranged to communicate signals or data 435 with the device connection manager 430 for wireless communication 436 with a remote device 440. The remote device 440 may be a portable user device 440, such as a mobile phone 440, tablet computer 440, or user device associated with the vehicle 100 such as a device for accessing the vehicle 100 i.e. key having a display, for example. Other user devices may be envisaged. The device connection manager 430 may facilitate wireless communication 436 with the user device 440, thus in this sense “remote” is intended to mean physically separate from the vehicle 100. The wireless communication may comprise a local wireless network, such as WiFi or other short-range communication protocol over which the device connection manager 430 may wirelessly communicate 436 with the remote device 400. However the wireless communication may comprise communication with a telecommunications network such as 4G, 5G, 6G or other communication standard to communicate with the user device 440. The communication enables data indicative of a user input at the user device 440 to be received from the user device 440. The communication may enable a user interface to be provided at the user device 440. For example, data indicative of a location or arrangement of the vehicle 100 and / or frailer 200 may be communicated to the user device 440 to generate a representation of the vehicle 100 and / or trailer 200 to enable a GUI to be provided thereon. As will be explained, the user device 440 facilitates remote manoeuvring of the trailer 200 i.e. from outside of the vehicle 100.

[0059] The control system 400 may comprise a perception or sensor system 450 of the vehicle 100 for providing environment data 455 to the frailer manoeuvring controller 300 indicative of an environment of the vehicle 100, which may also encompass the environment of the frailer 200. In particular, the environment data 455 may be indicative of any objects and / or terrain in the environment of the vehicle 100 and trailer 200 which may restrict movement of the vehicle 100 and trailer 200. For example, the environment data 455 may comprise an indication of a size and / or location of one or more objects, or may indicate a terrain feature such as a slope or surface which is difficult to pass for the vehicle 100 or trailer 200. The perception system 450 may comprise one or more sensors associated with the vehicle 100. The one or more sensors may comprise, for example, a radar system, a lidar system, ultrasonic sensors, vision-based devices e.g. cameras for providing image data relating to the environment of the vehicle 100 from which the object(s) and terrain may be determined. It will be appreciated that the data from the one or more sensors may be combined, for example using a fusion system. In some perception or sensor systems 450, sensor data from a plurality of sensors is utilised to generate a perception map to represent an environment of the vehicle 100. Therefore fused sensor data or a perception map may be the environment data 455 in some embodiments.

[0060] As noted above, in some embodiments of the invention the controller 300 is arranged to implement one or more modules 460, 470, 480, 490 which may comprise one or more of a counter steering module 460, a user input interpreter 470, a trailer position determiner 480 and a manoeuvre goal determiner 490.

[0061] The counter steering module 460 is arranged to determine steering of the vehicle 100 to position the trailer 200. In particular, the counter steering module 460 is arranged to determine counter-steering of the vehicle’s steering wheels required to steer the trailer 200 in a direction requested by the user. The counter steering module 460 may cause the trailer manoeuvring controller 300 to output data or signals to the vehicle actuation controller 420 for controlling the direction of the steering wheels i.e. in some embodiments indicating the RWA of the vehicle 100.

[0062] The user input interpreter 470 is arranged to interpret user commands received from one or both of the Ul 410 and the user device 440. The user input interpreter 470 is arranged to provide an indication of a user request determined from the commands to the manoeuvre goal determiner which is arranged to determine a manoeuvring goal of the user, such as a desired location of the trailer 200 or a change in position, such as angle, of the trailer 200, in dependence on the received user input.

[0063] The trailer position determiner 480 is arranged to determine, or estimate, a position of the trailer 200 with respect to the vehicle 100. The position of the trailer 200 is a current position of the trailer which may be determined in dependence on the received environment data 455. For example, image data relating to a rear of the vehicle 100 comprising the trailer 200 may be used to determine an angle of the trailer 200 with respect to the vehicle. An output of the trailer position determiner 480 may be used to provide a visual representation of at least a portion of the trailer 200 on a display to the user indicative of the position of the trailer 200 with respect to the vehicle 100. The output of the trailer position determiner 480 may be provided to the counter steering module 460.

[0064] The manoeuvre goal determiner 490 is arranged to determine a position of the trailer 200 as a goal of a manoeuvre requested by the user. In dependence on a user input 415 received by the trailer manoeuvring controller 300 the manoeuvre goal determiner 490 is arranged to determine a requested position of the trailer 200. That is, the goal position of the trailer 200 requested by the user, as will be explained. The manoeuvre goal determiner 490 is arranged to provide an indication of the requested position of the trailer 200 to the counter steering module 460 such that the counter steering module 460 is arranged to determine one or more steering angles, which may be used in opposing longitudinal movements of the vehicle 100, i.e. forward and reverse, to move the trailer 200 from its current position to the request position.

[0065] Figures 5 and 6 illustrates methods of determining one or more attributes of a trailer 200 according to embodiments of the invention. The method 500 illustrated in Figure 5 may be performed by a user using the Ul 410. The method 600 illustrated in Figure 6 may be performed remotely from the vehicle, such as by the user with respect to the user device 440, e.g. the user’s mobile phone. In particular, the method 600 may be performed by the user when outside of the vehicle 100, as will be explained, which may enable convenient determination of the attributes of the trailer 200. Advantageously determining the one or more attributes of the trailer may enable more accurate manoeuvring.

[0066] Figure 5 illustrates a method 500 according to an embodiment of the invention. The method 500 is a method of determining one or more attributes of a frailer 200. In particular, the method 500 is a method of determining one or more dimensions of the frailer 200, such that accurate manoeuvring of the frailer 200 may be performed. The computer-implemented method 500 may be performed by the system 400 illustrated in Figure 4. In particular, the memory 320 may comprise computer-readable instructions which, when executed by the processor 310, perform the method 500 according to an embodiment of the invention.

[0067] The method 500 starts at 501 and comprises a block 510 of determining whether the trailer 200 is connected to the vehicle 100. In some embodiments, block 510 may comprise determining whether the trailer 200 is mechanically and / or electrically connected to the vehicle 100, as described above. Block 510 may comprise determining whether the electrical plug of the trailer 200 is connected to the corresponding socket of the vehicle 100 such that the trailer 200 is communicably connected with the vehicle 100. Alternatively or additionally block 510 may comprise determining whether the trailer 200 is mechanically coupled to the vehicle 100. If the trailer 200 is not connected to the vehicle 100 the method returns via path 515 to block 510 i.e. waits at block 510. When the trailer 200 is connected to the vehicle 100, the method follows path 516 to block 520.

[0068] In block 520 the user is requested, such as via an audible output or visual output on the display of the Ul 410, to provide identifying information associated with the trailer 200, such as a name of the trailer. If the user provides the identifying information indicating that data (trailer data) associated with the trailer 200 is already stored in the memory 320 said data is retrieved by the processor 310. If, however, the user indicates that the trailer 200 is new and that the new trailer should be configured in the system 400 the method moves to block 530. In block 530 an indication of one or more attributes of a trailer 200 is provided to the system 400 such as by the user speaking and the system 400 using speech- to-text conversion, or via the user entering information via the Ul 410 e.g. using an on-screen keyboard. The information may comprise one or more dimensions of the trailer 200 such as a length and width of the trailer 200. In some embodiments, the one or more dimensions may comprise a length of a tow hitch of the trailer 200, such as a length of an A-frame extending forward of the trailer 200, and / or a distance of an axle of the trailer 200 from the trailer’s hitch or front of the frailer 200. This additional information may be useful in allowing the system 400 to calculate e.g. a turning circle of the frailer 200 and / or a maximum angle of the frailer 200 with respect to the vehicle 100 before contact is made there-between, and thus be better able to estimate manoeuvring of the trailer 200. However, in some embodiments in order to avoid the user manually entering detailed information, a calibration process is performed in block 540 to automatically determine the data associated with the frailer 200.

[0069] In block 540 the user is requested to perform a calibration manoeuvre of the trailer 200. The calibration manoeuvre is a manoeuvre of the trailer 200 coupled to the vehicle 100 which allows the system 400 to determine manoeuvring characteristics of the frailer 200, such as its turning circle. The system 400 requests the user via an audible and / or visual request output by the system 400. The calibration manoeuvre may involve the user driving the vehicle 100 in one or both a forward or reverse direction with steering applied, such that the vehicle 100 turns with the frailer 200. The perception system 450 of the vehicle 100 is arranged to obtain data relating to the position of the trailer 200 during the calibration manoeuvre such that the manoeuvring characteristics of the frailer 200 may be determined therefrom by the processor 310. For example, image data relating to a rear of the vehicle 100 enables an angle of the frailer 200 to be determined and correlated with a distance of longitudinal movement of the vehicle 100 and a steering angle during the calibration manoeuvre. In this way, the system 400 is able to determine a required steering angle e.g. RWA and longitudinal movement distance of the vehicle 100 to achieve a desired angle of the trailer 200. Trailer data obtained during the method 500 is stored in the memory 320.

[0070] Block 550 comprises the system 400 outputting an indication that the frailer manoeuvring system 400 is configured for use e.g. to perform manoeuvring of the frailer 200.

[0071] Figure 6 illustrates a computer-implemented method 600 according to an embodiment of the invention. The method 600 is a method of determining one or more attributes of the trailer 200. In particular, the method 600 is a method of determining one or more dimensions of the frailer 200 via the user device 440, such that accurate manoeuvring of the trailer 200 may be performed. The computer-implemented method 600 may be performed by the system 400 illustrated in Figure 4. In particular, the memory 320 may comprise computer-readable instructions which, when executed by the processor 310, perform the method 600 according to an embodiment of the invention. Referring to Figure 6, the method 600 starts at 601 and comprises a block 610 for determining whether a user input to configure the trailer is received by the user device 440. The user input may correspond to selecting one of a plurality of configuration options. A display of the user device 440 may output an indication of each of the plurality of configuration options, such as in the form of menu icons or controls, and the user input may correspond to activation of one of the menu icons. In one embodiment, the configuration options and thus menu icons in some embodiments correspond to one or more of the user inputting the indication of the one or more attributes of the trailer 200, such as the dimension of the trailer 200, a user retrieving stored information associated with the trailer 200, and the user using the user device to measure one or more dimensions of the trailer 200. The input is received by the user device 440 in block 610 and the method moves to an appropriate block as discussed below.

[0072] Block 620 corresponds to the user retrieving stored information associated with the trailer 200. Block 620 may thus be a first of the plurality of configuration options offered to the user. In block 620 the user device 440 is arranged to provide a user interface enabling the user to provide identifying information associated with the trailer 200, such as the name of the trailer. Characters corresponding to the name of the trailer may be entered at the user device 440, or spoken and audibly entered to the user device 440. The identifying information is communicated wirelessly from the user device 440 to the system 400 as data indicative of a trailer selection input at the graphical user interface indicative of a trailer connected to the vehicle. The identifying information is used at the system 400 by the processor 310 to retrieve the data associated with the trailer 200, such as the dimensions of the trailer 200, stored in the memory 320 of the system 400.

[0073] Block 630 corresponds to the user inputting the indication of the one or more attributes of the trailer 200, such as the dimension of the trailer 200. Block 630 may thus be a second of the plurality of configuration options. In block 630 an indication of one or more attributes of the trailer 200 are provided to the user device 440, such as by the user speaking and the user device 440 using speech-to-text conversion, or via the user entering information via an interface of the user device 440. The information may comprise one or more dimensions of the trailer 200 such as a length and width of the trailer 200. In some embodiments, the one or more dimensions may comprise a length of a tow hitch of the trailer 200, such as a length of an A-frame extending forward of the frailer 200, and / or a distance of an axle of the trailer 200 from the trailer’s hitch or front of the trailer 200. This additional information may be useful for calculating e.g. the turning circle of the frailer 200.

[0074] Block 640 corresponds to using the user device to measure the trailer 200. The user device 440 comprises at least one imaging device e.g. camera via which image data of the trailer 200 and / or portion of the vehicle 100 is able to be captured. An image corresponding to the image data is displayed in block 640 on a display of the user device 440. A user input is received at the display to select a region of the image corresponding to a first reference location of the trailer 200, such as a front, back or side surface of the frailer 200. Once selected, the user is able to move the user device 440 to direct the image data to a second reference location of another region of the frailer 200 e.g. an opposing surface of the trailer thereby allowing the user device 440 to determine a measurement between the selected first and second reference locations of the trailer 200. In this way, the user device 440 is arranged to visually determine one or more dimensions of the trailer 200 without, advantageously, the user being required to possess a measurement device. Alternatively, the user device 440 may be positioned about the frailer to capture a view of the vehicle 100 having known dimensions from which a distance of the user device 440 from the vehicle 100 may be determined.

[0075] In block 650 data corresponding to the one or more attributes of the trailer 200 are communicated from the user device 440 to the system 400. In particular, frailer data is wirelessly communicated 436 to the connection manager 430 and stored in the memory 320 of the system 400 for use by the processor 310.

[0076] Figure 7 illustrates a computer-implemented method 700 of manoeuvring a frailer according to an embodiment of the invention. The method 700 may be performed by the frailer manoeuvring controller 300 illustrated in Figure 3 and by the trailer manoeuvring system 400 illustrated in Figure 4. In particular, the memory 320 of the trailer manoeuvring controller 300 may comprise computer-readable instructions which, when executed by the processor 310, perform the method 700 according to an embodiment of the invention. The method 700 will be explained with reference to Figures 8 and 9 which illustrate graphical user interfaces for manoeuvring the trailer 200 according to embodiments of the invention. The method 700 begins at 701 and block 710 comprises displaying on a display device 810, 910 a representation of at least a portion of the trailer 200 and a visual representation of at least a portion of the vehicle 100 in relation to one another, such as in Figure 8 or Figure 9. The representations may comprise or allow the user to visually appreciate an orientation of a longitudinal axis 830 of the vehicle 100 with respect to an orientation of a longitudinal axis 840 of the trailer 200. Block 710 may comprise displaying a trailer manoeuvring graphical user interface 820, 920, such as shown in Figure 8 or 9 described below.

[0077] Block 710 may comprise determining whether the memory 320 stores trailer data indicative of one or more attributes of the trailer 200. A discussed above, the information may comprise an indication of one or more dimensions of the trailer 200 such as a length and width of the trailer 200 and in some embodiments may comprise a length of a tow hitch of the trailer 200, such as a length of an A-frame extending forward of the trailer 200, and / or a distance of an axle of the trailer 200 from the trailer’s hitch or front of the trailer 200.

[0078] If no trailer data is stored in the memory 320, the method 700 moves to block 720. If, however, trailer data is stored in the memory 320 for one or more trailers, identifying information associated with the trailer 200, such as a name of each trailer is output to enable the user to select one of the one or more trailers. For example, a name of each of the stored trailers may be output and a user input corresponding to a desired trailer received to select that trailer. In this way, the one or more attributes of the selected trailer, such as a length, width etc, may be retrieved from the memory 320. A representation of at least a portion of the frailer 200 may be displayed in dependence on the one or more attributes. Furthermore, movement of the frailer 200 may be controlled according to the one or more attributes, as will be explained. If no frailer data is stored then one or more default attributes, such as a default length and width of the frailer 200, may be used.

[0079] Figures 8a-8c illustrate a display device 810 displaying thereon a frailer manoeuvring graphical user interface, GUI, which may be a frailer manoeuvring GUI generally denoted as 820. The display device 810 may be the display device of the Ul 410 which is located within the vehicle 100. Thus the GUI 820 may be used by the user when seated within the vehicle 100, such as at the driver’s seat of the vehicle 100. As illustrated the display device 810 has a generally landscape orientation with it being appreciated that this is merely illustrative.

[0080] The trailer manoeuvring GUI 820 comprises a visual representation of at least a portion of the trailer 200 and a visual representation of at least a portion of the vehicle 100 in relation to one another. Thus the user is able to appreciate an orientation of a longitudinal axis 830 of the vehicle 100 and an orientation of a longitudinal axis 840 of the trailer 200. The frailer manoeuvring GUI 820 shown in Figures 8a-8c provides a plan view of the vehicle 100 and frailer 200, although it will be appreciated that other views are possible which allow the user to appreciate a relationship between the longitudinal orientations of the vehicle 100 and the frailer 200, such as a perspective view. Advantageously such views allow the user to better appreciate the relative positioning of the vehicle 100 and trailer 200 than, for example, a view from a camera located at a rear of the vehicle 100 such as a reversing camera.

[0081] The frailer manoeuvring GUI 820 allows the user to input a desired position for the trailer 200. The frailer manoeuvring GUI 820 may comprise at least one manoeuvring angle control 850 for allowing the user to provide an angle input. The angle input is indicative of a request for a manoeuvring angle of the frailer 200 with respect to the longitudinal axis of the vehicle 100. That is, for the user to indicate a requested manoeuvring angle of the trailer 200 with respect to the vehicle 100. The manoeuvring angle may be a relative angle of the trailer’s longitudinal axis 840 to the vehicle’s longitudinal axis 830. The manoeuvring angle control 850 allows an indication of a desired position of the trailer 200 to be input by the user. In some embodiments, the manoeuvring angle control 850 corresponds to the visual representation of at least a portion of the frailer 200, which may be manipulated or controlled on the display device 810 by the user to provide the angle input.

[0082] In the embodiment shown in Figures 8a-8c, the manoeuvring angle control 850 is illustrated as a unitary formed control or icon wherein a user input corresponding to different portions of the manoeuvring angle control 850 allows the user to select either a clockwise or anti-clockwise rotation or relative angle of the trailer 200 with respect to the vehicle 100. For example, a user input with respect to a first portion of the manoeuvring angle control 850 corresponds to clockwise or left-hand rotation of the frailer 200 whilst a user input with respect to a second portion of the manoeuvring angle control 850 corresponds to anti-clockwise or right-hand rotation of the trailer 200. The trailer manoeuvring GUI 820 is illustrated in Figures 8a-8c to comprise an indication of any objects detected in an environment of the vehicle 100. The detected objects may be any objects or surface features which may limit movement of the vehicle 100 and / or trailer 200. The objects may be detected, using a sensor associated with the vehicle 100 such as the perception system 450. For example, a location of an object 860 may be determined by the controller 300 with respect to point cloud data stored in a memory accessible to the controller and a representation thereof provided as part of the trailer manoeuvring GUI 820. The representation of the object 860 allows the user to appreciate possible trailer manoeuvring angles which may be requested or where a request for a trailer manoeuvring angle would bring the trailer 200 potentially into conflict with the object 860. Should the controller 300 determine that the vehicle 100 will collide with the object 860 in the environment around the vehicle 100, the controller may output a movement end signal 426 to cause the vehicle 100 to stop moving. When the controller 300 determines, using the sensor system of the vehicle 100, that the object has been removed, the controller 300 is arranged to output the actuation signal 426 to cause the vehicle to resume moving in the movement direction.

[0083] Figure 9 illustrates a display device 910 of the user device 440, displaying thereon a ‘mobile’ trailer manoeuvring GUI 920 in different states in Figures 9a-9c. The GUI 920 may be used by the user on a device when external to the vehicle 100, such as when the user is positioned at a distance from the vehicle 100 to observe the vehicle 100 and trailer 200. As illustrated, the display device 910 has a generally portrait orientation with it being appreciated that this is merely illustrative. The trailer manoeuvring GUI 920 is suitable for, for example, a mobile telephone or smartphone although other devices such as tablet computers and the like may display the GUI 920. The user device 440 is operative to receive indications of the visual representation to be provided as part of the GUI 920 from the controller 300, such as via the connection manager 430, and to convey indications of user input to the controller 300. As with Figure 8, the trailer manoeuvring GUI 920 of the user device 440 comprises a visual representation of at least a portion of the trailer 200 and a visual representation of at least a portion of the vehicle 100 in relation to one another. Thus the user is able to appreciate an orientation of a longitudinal axis of the vehicle 100 and an orientation of a longitudinal axis of the frailer 200 and their relative orientations.

[0084] The GUI 920 allows the user to input a desired location of the trailer 200. The GUI 920 of Figure 9 comprises a plurality of manoeuvring angle controls 930, 940, in particular first 930 and second 940 controls for respectively receiving user inputs corresponding to first and second rotation or steering directions of the frailer 200 with respect to the vehicle 100. It will be appreciated that the GUI 820 of Figure 8 may comprise a plurality of manoeuvring angle controls and vice versa.

[0085] In Figure 9, the GUI 920 comprises graphical indications of objects detected in an environment of the vehicle 100 in relation to the vehicle 100, as in Figure 8. The illustrated objects 970, 980 may be surface features, such as gradient changes, which may limit movement of the vehicle 100 and / or trailer 200. For example, at least one of the objects 970, 980 may be a slope or surface protrusion. In some embodiments, the objects may be representative of a type of surface which may affect manoeuvring of the vehicle 100 and / or trailer 200.

[0086] The graphical user interfaces of Figures 8 and 9 may be configured to receive an indicative of a terrain selection input at the graphical user interface, indicative of a selection of a terrain profile, wherein the terrain profile corresponds to one of a plurality of terrain profiles stored in the memory 320. Each terrain profile includes torque values to be applied to the wheels for the respective terrain, such as tarmac, sand, mud, rocks etc. In dependence on a selection of a terrain the controller 300 is arranged to output a torque control signal to control a torque magnitude applied to the wheels to achieve a torque value corresponding to the selected terrain profile. The torque values may be appropriate for towing the frailer 200 on the selected terrain. Furthermore, in some embodiments the controller 300 is arranged to receive, from the user interface, an indication of a speed request defining a speed at which the vehicle 100 is to move. In some embodiments, the speed request may define a maximum speed of the vehicle 100 where the vehicle 100 is limited to a preconfigured maximum speed.

[0087] Block 720 comprises receiving an indication of a desired location of the trailer 200. The indication of the desired location may comprise angle data, relating to an angle input at the GUI 920 which is indicative of a request for a manoeuvring angle of the frailer 200 with respect to the longitudinal axis 830 of the vehicle 100. As discussed above, the GUI 820 of Figure 8 and the GUI 920 of Figure 9 each comprise one or more manoeuvring angle controls 850, 930, 940 which allow an angle of the trailer 200 with respect to the vehicle 100 to be indicated or selected, such as via repeated activations or presses, by a movement of an input at the display device e.g. of the user’s finger, or via a length or time of activation, corresponding to increasing rotation angles of the trailer 200. Alternatively, the user may be able to drag or otherwise manipulate the representation of the trailer 200 to a desired location or angle within the GUI 810, 920. Figure 8b illustrates the GUI 820 of Figure 8a with the trailer 200 rotated anti-clockwise i.e. turned to a right hand side of the vehicle 100. The GUI 820 comprises an indication of the rotated position of the trailer 870 to provide feedback to the user of the requested manoeuvring angle of the trailer 870. In some embodiments, the GUI 820 may comprise, simultaneously, a representation of the current position of the trailer 200 thereby allowing the user to appreciate a change in angle or position of the trailer corresponding to the requested manoeuvring angle. Figure 8b illustrates the requested manoeuvring angle 880 which is an angle between the longitudinal axes 830, 840 of the vehicle 100 and trailer 200. The manoeuvring angle 880 may not be shown in the GUI 820 itself, but is provided here for the purpose of understanding. A similar representation can be provided in the mobile trailer manoeuvring GUI 920 of Figure 9.

[0088] Thus, in block 720 the user manipulates the GUI 820, 920, i.e. with one or more inputs, to provide an indication of the desired location, such as the requested manoeuvring angle 880 of the trailer 200. The user inputs may be provided from the user device 440 to the manoeuvre goal determiner 490 which, as noted above, is arranged to determine the requested position of the frailer 200 in dependence on the user input.

[0089] Block 730 comprises receiving a signal indicative of a movement direction of the vehicle 100. The signal may be received by the controller 300 after originating from one of a user interface, such as Ul 410 or an interface of the user device 440, or from the vehicle actuation controller 420 as will be explained.

[0090] Referring to Figure 9a the GUI 920 comprises one or more direction controls or icons 950, 960. In the illustrated embodiment, the GUI 920 comprises first and second direction controls 950, 960 each corresponding to one of forward and reverse directions of the vehicle 100. The one or more direction controls or icons 950, 960 allow selection of a longitudinal movement direction of the vehicle 100 by the user. For example, the user may select to reverse the vehicle 100 and trailer 200 by activation of reverse control 960. Thus as can be appreciated, an angle of the trailer 200 and direction of movement is requested in blocks 720, 730 corresponding to a desired location of the trailer 200. Embodiments of the invention are particularly useful when reversing the vehicle 100 and trailer 200 since the user is not required to counter steer the vehicle 100 to manoeuvre the trailer 200 as will be explained. The signal indicative of the movement direction of the vehicle thus corresponds to a signal 435, 436 wirelessly received from the portable user device 440.

[0091] In some embodiments, the data (angle data) indicative of one or both of an angle input and the data (direction data or direction signal) indicative of a direction input are continuously received from the user device 440 by the trailer manoeuvring controller 300 to be recognised as valid. That is, in order to cause movement of the vehicle 100 the user input at the user device 440 may, in some embodiments, be required to be continuously input and a signal indicative thereof continuously provided to the frailer manoeuvring controller 300 in order for the controller 300 to cause movement of the vehicle 100. Advantageously the continuous receipt acts as a ‘dead man’s handle’ to prevent unintentional movement of the vehicle 100 or to cease movement when the user is, for example, distracted.

[0092] The GUI 820 displayed on the display device 810 of Figure 8 may also comprise one or more direction controls or icons, although not shown specifically in Figure 8. When the one or more direction controls are activated, the signal indicative of the movement direction may correspond to the signal 415 from the Ul 410 provided to the controller 300.

[0093] The trailer manoeuvre controller 300 may store in the memory 320 data (speed data) indicative of a default or user entered movement speed of the vehicle e.g. e.g. 5kmh1or e.g. 10kmh1, for example. Alternatively, the user input at the GUI 820, 920 may be indicative of a desired movement speed. For example, a number of activations of one of the first and second direction controls 950, 960 or a duration of activation may be indicative of a desired movement speed of the vehicle 100. When a user input at the GUI 920 of Figure 9 or the GUI 820 of Figure 8 selects the longitudinal movement direction of the vehicle 100, the controller 300 is arranged to output the actuation control signal 426 to cause longitudinal movement of the vehicle 100 in the selected movement direction. The actuation control signal 426 may be referred to as a longitudinal or second movement control signal 426 output from the trailer manoeuvring controller 300 to the vehicle actuation controller 420. The second movement control signal 426 may be a torque request signal to cause an application or an increase in torque to one or more wheels of the vehicle 100 to cause the vehicle 100 to move in the requested movement direction.

[0094] With the display device 810 being located in the vehicle 100 it may be more likely that the user will manually control longitudinal movement of the vehicle 100. Thus in block 730 the signal 425 (direction signal), indicative of a movement direction of the vehicle 100, may be the manual actuation signal 425 indicative of the direction in which the user is manually controlling the vehicle 100 to move. That is, the manual actuation signal 425 may be provided to the controller 300 from the vehicle actuation controller 420 indicative of the direction in which the user is causing the vehicle 100 to move. The user may select a desired movement direction of the vehicle 100, such as reverse, using a control within the vehicle e.g. activating a touch sensitive button or moving a control e.g. gear selector, and then applying a throttle input e.g. by pressing an accelerator pedal. The manual actuation signal 425 provided to the controller 300 is indicative of movement of the vehicle 100 under the user’s control.

[0095] When the user is operating the GUI 820 on the display device 810 within the vehicle 100, it is expected that the user will manually control longitudinal movement of the vehicle 100 e.g. by selecting reverse and applying a throttle input at the accelerator pedal. However, when using the GUI 920 shown in Figure 9 with the user outside of the vehicle, activation of one of the firstand second direction controls 950, 960 will control longitudinal movement of the vehicle 100.

[0096] Referring to Figure 9b, the GUI 920 of the user device 440 is arranged to receive a user input indicative of a terrain selection i.e. indicating one of a plurality of types of different terrain on which the vehicle 100 and trailer 200 are currently located. The user may provide an input, such as selection of a terrain selection icon, in response to which the user device 440 is arranged to display a terrain menu or window 985 of the GUI 920 allowing terrain selection. Alternatively, the terrain menu or window 985 is dependent upon the vehicle 100 detecting a change in terrain e.g. in dependence upon excessive wheel slip being detected. The terrain menu 985 comprises a plurality of graphical controls 986, 987 (two are illustrated in Figure 9b with it being appreciated that this is illustrative), each corresponding to a different terrain profile. For example, a first control 986 relates to a mountainous or hilly terrain profile, whilst a second control 987 relates to a light off-road or grass terrain profile, with it being appreciated that other terrain controls and corresponding profile may be envisaged. The terrain controls 986, 987 each correspond to a profile of one or more vehicle settings, such as relating to powertrain, braking, etc as will be appreciated. Data indicative of the selection of one of the graphical controls 986, 987 is wirelessly communicated from the user device 440 to the trailer manoeuvre controller 300. Each terrain profile corresponds to one of a plurality of terrain profiles stored in a memory associated with the vehicle. Each terrain profile may include corresponding torque values to be applied to the driven wheels for each terrain, such as a minimum or maximum toque value or torque curve for application through the driven wheels. Accordingly, the trailer manoeuvre controller 300 is arranged to output a torque change control signal to cause a change in torque magnitude applied to the driven wheels of the vehicle 100 to achieve a torque value corresponding to the selected terrain profile.

[0097] Block 740 comprises determining whether the desired or requested position of the trailer 200 has been achieved. In particular, in some embodiments block 740 comprises determining whether the requested manoeuvring angle of the trailer 200 has been achieved. If not, the method moves to block 750 via path 741 . If the requested position of the trailer has been achieved, then the method moves to block 790 via path 745 and ends. Block 740 may comprise determining whether the received signal indicative of the movement direction of the vehicle 100 corresponds to a reverse direction of the vehicle. Thus block 750 may be reached when the vehicle 100 is requested to reverse and the manoeuvring angle has not yet been reached.

[0098] In block 750 a first movement control signal 426 is output to control movement of one or more wheels of the vehicle to cause the trailer 200 to move toward the requested manoeuvring angle as the vehicle 100 moves in the movement direction. The first movement control signal 426 corresponds to the steering actuation signal 426 which is arranged to control movement of one or more steering wheels of the vehicle 100. The steering actuation signal 426 is provided from the controller 300 to the vehicle actuation controller 420. The steering actuation signal 426 may be generated by the counter steering module 460. The counter steering module 460 may receive an indication of the requested manoeuvring angle of the trailer 200 from the manoeuvre goal determiner 490. Furthermore, the counter steering module 460 may receive an indication of a current angle of the trailer 420 from the trailer position determiner 480 such that a difference there-between may be calculated. The counter steering module 460 may thus determine a remaining angle of rotation of the trailer 200. The counter steering module 460 is arranged to control one or more steering wheels of the vehicle 100 as the vehicle reverses to move the trailer 200 toward the requested manoeuvring angle as the vehicle 100 reverses. The counter steering module 460 is arranged to output the steering actuation signal 426 to control the movement of the one or more steering wheels of the vehicle 100 to move in an opposing direction to the manoeuvring angle. That is, when the manoeuvring angle is to a right-hand side of the vehicle, the one or more steering wheels of the vehicle move toward a left-hand side of the vehicle. Similarly, when the manoeuvring angle is to a left-hand side of the vehicle 100, the one or more steering wheels of the vehicle move toward a right-hand side of the vehicle 100. In other words, the steering actuation control signal 426 causes rotation of the vehicle 100 in an opposing direction to the direction of the manoeuvring angle. In plan-view, when the manoeuvring angle corresponds to clockwise rotation of the trailer 200, the counter steering module 460 is arranged to control the steering actuation signal 426 to cause the vehicle 100 to rotate in an anti-clockwise direction and vice versa. As the skilled person will appreciate, such counter-steering of the vehicle’s steering wheels is not intuitive and the counter steering module 460 operates to assist the user particularly when reversing the vehicle 100. As the vehicle 100 reverses with the steering wheels caused to counter steer, the frailer 200 rotates toward the manoeuvring angle with longitudinal movement of the vehicle 100.

[0099] In block 760 it is determined whether one or more predetermined conditions are satisfied. If not satisfied the method returns via path 765 to block 740. In some embodiments the one or more conditions comprise a change in the movement direction of the vehicle 100. The change in movement direction may be determined in dependence on the direction signal 425 indicative of the movement direction of the vehicle 100. After reversing for a distance, it is sometimes necessary when manoeuvring a frailer 200 to perform a ‘corrective shuffle’ which comprises a forward movement of the vehicle 100 to reposition the trailer 200 before further reversing with appropriate counter steering.

[0100] In the embodiment of Figure 7, the controller 300 is arranged to determine whether the manual actuation signal 425 indicative of a manual control input at the vehicle 100 corresponding to forward movement of the vehicle 100 is received. The manual actuation signal 425 may be received by the controller 300 from the vehicle actuation controller 420. When the manual actuation signal 425 indicative of forward movement is received, the method moves to block 770 via path 761 . Otherwise the method 700 returns to block 740 via 765. For example, the manual actuation signal 425 is generated in dependence on the user within the vehicle 100 selecting forwards, or Drive, and applying an input to the accelerator of the vehicle 100 to cause the forward movement. In block 770 the controller 300 is arranged to output the longitudinal or second movement control signal 426 to cause the application of reversing torque to cease. That is, the controller 300 is arranged to signal to the vehicle actuation controller 420 a request that the vehicle 100 stops reversing since the vehicle 100 is being manually controlled to move forward. Therefore the vehicle 100 is allowed to be manually moved forward under the control of the driver. Whilst the vehicle 100 is being moved forward, the GUI 820 may continue to display the representation of vehicle 100 and frailer 200 in relation to an indication of any objects 860 in the environment of the vehicle 100.

[0101] As shown in Figure 8c, when the vehicle 100 is being manually controlled, the controller 300 may be arranged to display in the GUI 820 a resume control 890. The resume control 890 is a control, such as an icon 890, which is displayed on the display 810 and is selectable by the user to transmit resume data to cause the controller 300 to resume reversing of the vehicle 100 to position the trailer 200 at the desired position of the trailer 200 previously indicated by the user. The resume control 890 may be activatable once the user has reselected the reverse mode of the vehicle 100 such as by selecting reverse using a gear or Reverse control. Once the resume control 890 is activated the controller 300 is arranged to resume control of the one or more steering wheels of the vehicle 100 to position the trailer 200 as described above.

[0102] Referring again to block 760, in the embodiment of Figure 9 a user input may be received at the user device 440 corresponding to activation of one of the first and second direction controls 950, 960 to perform the forward movement of the vehicle 100 for the corrective shuffle. A signal 436, 435 indicative of the user input selecting the forward direction control 950 is communicated from the user device 440 to the controller 300 and, in block 770, the controller 300 is arranged to output the longitudinal or second movement control signal 426 to cause the application of forward torque by one or more wheels of the vehicle 100 such that the vehicle 100 moves forward.

[0103] As illustrated in Figure 9c, if the vehicle 100 and / or trailer 200 approaches an object in the environment, such as the object 980, the controller 300 is arranged to output a signal 426 to cause the vehicle 100 to stop. The signal 426 may be provided to the vehicle actuation controller 420 to cause the application of braking torque to one or more wheels of the vehicle 100. Furthermore, the controller 300 is arranged to cause the GUI 920 on the user device 440 to display a graphical indication 990 corresponding to a warning of a potential collision with the object 980. As shown in Figure 9c the graphical indication is an exclamation mark although it will be appreciated that other forms of graphical indication may be used. Following the stopping of the vehicle 100 by the controller 300 the user may activate e.g. the second direction control 960 to cause the vehicle 100 to move in a direction opposite to that of the object 980 e.g. the reverse direction. When the second or reverse direction control 960 is activated and a corresponding signal 436,435 sent from the user device 440 to the controller 300, the controller 300 is arranged to resume reversing and counter steering of the vehicle 100 to direct the trailer 200 toward the desired position.

[0104] In block 780 it is determined whether the resume control 890 or the reverse direction control 960 is activated and, if so, the method follows 785 to resume. If not, the method follows 786 and ends.

[0105] Referring to Figure 10, there is illustrated a trailer collision warning screen 1010 of the GUI 820, 920 which may be displayed either upon the Ul 410 within the vehicle 100 or on the user device 440. The trailer collision warning screen 1010 is arranged to be displayed when there is a likelihood of the trailer 200 colliding or coming into contact with the vehicle 100. The trailer position estimator 480 is arranged to determine when a current position of the trailer 200 is at an angle with respect to the vehicle 100 when contact therebetween is likely. The position may be determined using the stored trailer data e.g. relating to one or more dimensions of the trailer 200. When the user requests, via either GUI 820 or 920, a large angle of the trailer 200 with respect to the vehicle 100, the vehicle 100 reverses bringing the trailer 200 to such an angle where the vehicle 100 may contact the trailer 200. In this case, the trailer collision warning screen 1010 is arranged to notify the user that a collision is likely e.g. with graphical indication 1020. If the user does not intervene to stop the vehicle 100 reversing, then the trailer manoeuvring controller 300 is arranged to output the second control signal 426 to stop the vehicle 100 reversing. The user is then able to manually control the vehicle 100 to move forward i.e. away from the frailer 200, before resuming the reversing manoeuvre as described above, or indicating that manoeuvring is complete.

[0106] It will be appreciated that various changes and modifications can be made to the present invention without departing from the scope of the present application.

Claims

CLAIMS1 . A control system for a trailer manoeuvring system of a vehicle, the control system comprising one or more processors collectively configured to: receive, from a display device displaying a graphical user interface, angle data indicative of an angle input at the graphical user interface indicative of a request for a manoeuvring angle of a frailer with respect to an axis of the vehicle; receive a direction signal indicative of a movement direction of the vehicle; output a first movement control signal to control movement of one or more wheels of the vehicle to cause the trailer to move toward the manoeuvring angle as the vehicle moves in the movement direction.

2. The control system of claim 1 , wherein the graphical user interface is arranged to: display a visual representation of at least a portion of the trailer; and receive the request for the manoeuvring angle of the frailer with respect to the visual representation of the at least a portion of the frailer.

3. The control system of claim 1 or 2, wherein when the manoeuvring direction is a reverse direction of the vehicle, the first movement control signal is arranged to control the movement of the one or more steering wheels of the vehicle to move in an opposing direction to the manoeuvring angle.

4. The control system of any preceding claim, wherein the display device is a portable user device.

5. The control system of any preceding claim, wherein the direction signal indicative of the movement direction of the vehicle is received at the graphical user interface, and the control system is configured to output a second movement control signal to cause longitudinal movement of the vehicle in the movement direction.

6. The control system of claim 5, wherein the one or more processors are further configured to: receive manual control data indicative of a manual control input for the vehicle and, in dependence thereon, to cease outputting the second movement control signal; and receive, from the display device, resume data indicative of a resume input at the graphical user interface and, in dependence thereon, to resume outputting the second movement control signal.

7. The control system of any preceding claim, wherein the one or more processors are further configured to: detect, using a sensor system associated with the vehicle, an object in an environment of the vehicle; display, on the graphical user interface, an indication of the detected object in relation to the vehicle.

8. The control system of any preceding claim, wherein the one or more processors are further configured to: detect, using a sensor system associated with the vehicle, that the vehicle will collide with an object in the environment around the vehicle if the vehicle continues movement in its current direction; and output a second movement end signal to cause the vehicle to stop moving in dependence on the object being detected.

9. The control system of any preceding claim, wherein the one or more processors are further configured to: receive, from the display device, trailer data indicative of a frailer selection input at the graphical user interface indicative of a frailer connected to the vehicle; wherein frailer data stored within a memory of the vehicle in relation to a selected frailer indicates one or more dimensions of the selected frailer.

10. The control system of any preceding claim, wherein the one or more processors are further configured to: receive, from the display device, speed data indicating a speed request input at the graphical user interface indicative of a speed at which the vehicle should move.

11. The control system of any preceding claim, wherein the angle data and the direction data are continuously received.

12. A system comprising: the control system of any preceding claim for a trailer manoeuvring system of a vehicle connected to a trailer; and a display device.

13. A vehicle comprising the system of claim 12 or the control system of claims 1 to 11.

14. A computer-implemented method for controlling a trailer manoeuvring system of a vehicle, the method comprising: receiving, from a display device displaying a graphical user interface, angle data indicative of an angle input at the graphical user interface indicative of a request for a manoeuvring angle of a frailer with respect to an axis of the vehicle; receiving a direction signal indicative of a movement direction of the vehicle; outputting a movement control signal to control movement of one or more wheels of the vehicle to cause the trailer to move toward the manoeuvring angle as the vehicle moves in the movement direction.

15. Computer readable instructions which, when executed by a computer, are arranged to perform a method according to claim 14.

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