Determining compatibility of an EVSE with charge inlets of a vehicle

Abstract

Control system for a vehicle comprising an imager and one or more types of charge inlet (103a, 103b, Fig.1), the control system configured to: determine from an image the charge connector type (Fig.3)

Description

TECHNICAL FIELD The present disclosure relates to determining compatibility of an electric vehicle supply equipment (EVSE) with one or more charge inlets of a vehicle. Aspects of the invention relate to a control system, to a vehicle, to a method, and to computer-readable instructions. BACKGROUND It is known to provide vehicles such as cars with one or more rechargeable electric batteries for providing at least some of the motive power used to drive the vehicle. Typically, a vehicle includes one or more charge inlets accessible via an exterior of the vehicle, and a charge connector of a charging unit external to the vehicle is connected to one of the charge inlets to initiate charging of the vehicle battery. A vehicle may have one or more different types of charge inlet and a charging unit may have one or more different types of charge connector. For instance, different geographical regions may use different types of charge connectors as standard. It can be difficult for a vehicle user / driver to determine whether the types of charge connector available at a specific charging unit are compatible with any of the charge inlet types on the vehicle. In cases in which the vehicle has more than one type of charge inlet, it can also be difficult for the vehicle user to determine which of the charge inlets corresponds to a particular charge connector. This can be particularly inconvenient for the user in a case in which different charge inlets of the vehicle are accessible externally on different sides of the vehicle, as situations can arise where the user needs to move around the vehicle with a particular charge connector until a corresponding / correct charge inlet is identified. It is against this background to which the present invention is set. SUMMARY OF THE INVENTION Aspects and embodiments of the invention provide a control system, a vehicle, a method, and computer-readable instructions as claimed in the appended claims. According to an aspect of the present invention there is provided a control system for a vehicle comprising one or more types of charge inlet. The control system comprises one or more processors collectively configured to monitor an image sensor signal, received from an externally-facing image sensor of the vehicle, for image data including data indicative of an electric vehicle supply equipment (EVSE) comprising one or more charge connectors. The one or more processors are collectively configured to determine, in dependence on the monitored image data, a type of at least one of the charge connectors of the EVSE. The one or more processors are collectively configured to determine whether at least one of the determined types of charge connector corresponds to one of the types of charge inlet of the vehicle. If at least one of the charge connector types is determined to correspond to one of the charge inlet types, then the one or more processors may be collectively configured to output a control signal to indicate that the EVSE is compatible with one or more of the vehicle charge inlets. The invention is advantageous in that it provides for automatic detection and notification of whether an EVSE includes one or more charge connectors that are compatible with one or more charge inlets of a vehicle when the vehicle is in the vicinity of the EVSE, e.g. as the vehicle approaches the EVSE, such as the vehicle entering a parking bay adjacent to the EVSE. In particular, the invention is advantageous in that the detection is performed without a vehicle user / driver needing to exit the vehicle to perform a manual check of the above, thereby increasing user convenience. In examples in which the vehicle comprises a plurality of types of charge inlet, the invention beneficially assists the user in identifying which of the charge inlets is to be used with a particular charge connector, i.e. by automatically actuating / opening a powered charge flap (PCF) covering the appropriate charge inlet or by providing an indication to the user via a vehicle human-machine interface (HMI) as to which charge inlet is compatible. The control system comprises one or more controllers collectively comprising at least one electronic processor having an electrical input for receiving an input signal; and at least one memory device electrically coupled to the at least one electronic processor and having instructions stored therein. The at least one electronic processor is configured to access the at least one memory device and execute the instructions thereon so as to: monitor the image sensor signal; determine the type of the at least one of the charge connectors of the EVSE; determine whether the at least one of the determined types of charge connector corresponds to one of the types of charge inlet of the vehicle; and output the control signal. In some embodiments, to determine the type of the at least one charge connector the control system may be configured to execute a detection algorithm configured to detect one or more defined characteristics, of an exterior of the EVSE, indicative of a type of the one or more charge connectors of the EVSE. The invention may be configured to determine the type of the at least one charge connector in dependence on at least one of the detected characteristics. Beneficially, this allows for detection of a particular type of charge connector associated with the EVSE without needing to analyse the charge connector itself, e.g. without needing to analyse mating features of the charge connector for attaching to a charge inlet. The defined characteristics may include one or more character strings each comprising at least one character. The detection algorithm may be a character recognition algorithm configured to identify one or more character strings on the exterior of the EVSE. The type of the at least one charge connector may be determined in dependence on at least one of the identified character strings. Beneficially, this exploits unique characteristics of a specific type of charge connector that are known to typically be present on an exterior of an EVSE in order to perform the automatic detection. In some embodiments, one of the identified character strings may be adjacent to a docking point for docking a charge connector of the type indicated by the identified character string. If the charge connector type indicated by the identified character string is determined to correspond to one of the charge inlet types, then, prior to outputting the control signal, the control system may be configured to execute a further detection algorithm, using the monitored image data, to identify whether a charge connector is docked in the docking point. If no charge connector is determined to be docked in the docking point, then the control system may be configured to output a notification signal to a driver of the vehicle indicating that the charge connector type is unavailable. Beneficially, this exploits known locations of an exterior of an EVSE where unique characteristics of a specific charge connector appear in order to perform the automatic detection, thereby focussing an area of an image on which the detection algorithm is executed, which improves accuracy and reduces computational cost thereof. The defined characteristics may be indicative of a unique identification code associated with the EVSE. The control system may be configured to lookup a database entry including the unique identification code in an accessible database of EVSE unique identification codes. The control system may be configured to retrieve the type of the at least one charge connector of the EVSE from the database entry. The unique identification code may for instance be a barcode or QR (Quick Response) code that uniquely identifies a specific EVSE. The database may be located offboard the vehicle, e.g. in the Cloud. Optionally, the detection algorithm may be configured to detect one or more further defined characteristics, of the exterior of the EVSE, indicative that one or more charge connectors of the EVSE is out of order. If the detection algorithm detects one or more of the further defined characteristics, then the control system may be configured to output a notification signal, e.g. to a user / driver of the vehicle, indicating that the one or more charge connectors of the EVSE is out of order prior to outputting the control signal. Further optionally, the notification signal may cause a notification to be displayed on a human-machine interface (HMI) in a cabin of the vehicle. The further defined characteristics may include one or more of: a tag attached to a charge connector of the EVSE indicating that the charge connector is out of order; and, a message displayed on a display screen of the EVSE indicating that one or more of the charge connectors is out of order. Beneficially, the vehicle user / dnver is made aware that the charge connector of a specific EVSE is out of order prior to the user exiting the vehicle to attempt to use the charge connector to recharge the vehicle battery, thereby increasing user convenience. The control system may be configured to determine, in dependence on the monitored image data, a distance between the EVSE and the vehicle. The control system may be configured to initiate the step of determining the type of at least one of the charge connectors of the EVSE (only) when the determined distance is less than a predefined threshold distance. . Beneficially, this ensures that the control system only executes the control routine to determine charge connector type when it is needed, i.e. when the vehicle is close to an EVSE comprising one or more charge connectors. In this way, computational cost associated with the control system is reduced (particularly as performing image analysis as in the determination of charge connector type can be associated with relatively high computational cost). The control system may be configured to monitor a satellite navigation system signal indicative of a geographical location of the vehicle. The control system may be configured to determine, in dependence on the monitored satellite navigation system signal, whether the geographical location of the vehicle is within one of at least one defined geographical area in which a respective charging station is located. When the vehicle is determined to be in one of the defined geographical areas, the control system may be configured to initiate the step of monitoring the image sensor signal for image data including data indicative of the EVSE. Beneficially, this ensures that the control routine to determine the distance between an EVSE and the vehicle is initiated only when it is likely that the vehicle is in the vicinity of an EVSE and / or when it is likely that the vehicle battery is to be charged, thereby minimising a computational costof executing this control routine. Optionally, the control system is configured to determine, when the vehicle is determined to be in one of the defined geographical areas, whether the charging station in said geographical area comprises one or more EVSEs having a charge connector type corresponding to at least one of the charge inlet types of the vehicle. In such an embodiment, the control system may be configured to initiate the step of monitoring the image sensor signal only if said charging station includes one or more EVSEs having a corresponding charge connector type. Each of the one or more charge inlets of the vehicle may be concealed by a respective powered charge flap (PCF), disposed on an exterior of the vehicle, when the respective PCF is in a closed position. Each charge inlet may then be revealed when the respective PCF is in an open position. The control signal may be configured to actuate the PCF concealing said one of the charge inlets, corresponding to said one of the charge connectors, from the closed position to the open position. The or each PCF may be electrically powered to allow actuation thereof. Alternatively, the or each PCF may instead be a 'non-powered', e.g. mechanical, release mechanism, e.g. spring-loaded mechanism, that is actuated to allow / cause the PCF to open (and / or close). Beneficially, this increases user convenience and reduces the likelihood of a user attempting to connect the charge connector to an incorrect / non-corresponding charge inlet of the vehicle. Optionally, if it is determined that a plurality of the charge connector types correspond to a respective plurality the charge inlet types, then the control system may be configured to select one of the plurality of charge inlet types in dependence on predefined preferences. The control signal may be configured to actuate the PCF concealing said selected charge inlet from the closed position to the open position. Further optionally, the predefined preferences may include a preference for faster charging. Each of the charge inlets of the vehicle may be concealed by a respective powered charge flap (PCF), disposed on an exteriorof the vehicle, when the respective PCF is in a closed position and is revealed when the respective PCF is in an open position. The control signal may be configured to cause a notification to be displayed on a human-machine interface (HMI) in a cabin of the vehicle prompting a user of the vehicle to confirm actuation of the PCF concealing said one of the charge inlets, corresponding to said one of the charge connectors, from the closed position to the open position. Beneficially, this ensures that a PCF is not actuated to an open position when the vehicle user does not intend to recharge the vehicle battery. Optionally, if it is determined that none of the charge connector types correspond to one of the charge inlet types, then the control system may be configured to output an incompatibility signal to indicate that the EVSE is incompatible with the vehicle charge inlets. Further optionally, the incompatibility signal may cause a notification to be displayed on the HMl. Beneficially, this guards against a vehicle user needing to exit the vehicle to determine that an EVSE has no compatible charge connector. According to another aspect of the invention there is provided a vehicle comprising the control system defined above. According to another aspect of the invention there is provided a method for a vehicle comprising one or more types of charge inlet. The method comprises monitoring an image sensor signal, received from an externally-facing image sensor of the vehicle, for image data including data indicative of an electric vehicle supply equipment (EVSE) comprising one or more charge connectors. The method comprises determining, in dependence on the monitored image data, a type of at least one of the charge connectors of the EVSE. The method comprises determining whether at least one of the determined types of charge connector corresponds to one of the types of charge inlet of the vehicle. If at least one of the charge connector types is determined to correspond to one of the charge inlet types, then the method comprises outputting a control signal to indicate that the EVSE is compatible with one or more of the vehicle charge inlets. According to another aspect of the invention there is provided computer readable instructions which, when executed by a computer, are arranged to perform the method defined above. 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. BRIEF DESCRIPTION OF THE DRAWINGS One or more embodiments of the invention will now be described, by way of example only, with reference to the accompanying drawings, in which: Figures 1 (a)-1 (d) show schematic illustrations of a vehicle in accordance with an aspect of the invention: Figure 1 (a) shows a first perspective viewof the vehicle, Figure 1(b) shows a second perspectiveviewof the vehicle, Figure 1(c) shows a top down viewof the vehicle, and Figure 1(d) shows a rear view of the vehicle; Figure 2 shows a schematic illustration of a control system of the vehicle of Figure 1 in accordance with an embodiment of the invention; Figure3 shows an illustration of different types of charge inlet that can be included in the vehicle of Figure 1, along with corresponding charge connectors; Figure 4 shows control modules of the control system of Figure 2 in accordance with one embodiment of the invention; Figure 5 is an example of an image acquired by the vehicle of Figure 1, the image being for processing by one of the control modules of Figure 4; Figure 6 is an example of an image acquired by the vehicle of Figure 1, the image being for processing by another one of the control modules of Figure 4; Figure? summarises the steps of a method performed by the control system of Figure 2 in accordance with one embodiment of the invention; Figure 8 shows control modules of the control system of Figure 2 in accordance with another embodiment of the invention; Figure 9 is an example of an image acquired by the vehicle of Figure 1, the image being for processing by one of the control modules of Figure 8; Figure 10 is an example of an image acquired by the vehicle of Figure 1, the image being for processing by another one of the control modules of Figure 8; and, Figure 11 summarises the steps of a method performed by the control system of Figure 2 in accordance with another embodiment of the invention. DETAILED DESCRIPTION Figures 1 (a)-1 (d) show different views of a vehicle 10 in the form of a car. In particular, Figures 1(a)-1 (d) respectively show a first perspective view, a second perspective view, a top view and a rear view of the vehicle 10. The vehicle 10 includes one or more rechargeable vehicle batteries (not shown). The battery provides electric power to propel the vehicle 10. The vehicle 10 may be any suitable type of vehicle that is driven at least partly by electric power, e.g. an electric vehicle (EV), a hybrid-electric vehicle (HEV), a plug-in hybrid electric vehicle (PHEV), etc. The vehicle battery may be recharged by connecting the battery to a suitable external electric power source. In order to allow connection to such an external power source, the vehicle battery includes one or more charge inlets or charge ports that are configured to connect / fit to a corresponding charge connector, e.g. of an external charging unit or electric vehicle supply equipment (EVSE). When the charge connector is connected to one of the charge inlets, charging of the battery occurs. Each of the charge inlets of the vehicle 10 is located adjacent to an exterior body 102 of the vehicle 10. Each charge inlet is associated with a respective / corresponding powered charge flap (PCF). Each PCF is disposed on an exterior of the vehicle 10. In the described example, each PCF is a part of / integrated with the exterior body of the vehicle 10. In the described example, the vehicle 10 includes two charge inlets (not shown in Figure 1), with each charge inlet being associated with a respective PCF 103a, 103b disposed on the vehicle exterior. Each PCF 103a, 103b is actuatable / movable between a closed position and an open position / configuration. In the closed position, the PCF 103a, 103b conceals the respective charge inlet from exterior access. In the described example, in the closed position each PCF 103a, 103b sits substantially flush with the portion of the exterior body surrounding / adjacent to the respective PCF 103a, 103b. In the open position, the PCF 103a, 103b reveals the respective charge inlet such that the charge inlet may be accessed from external to the vehicle 10. In the described example, in the open position each PCF 103a, 103b sits at an angle relative to the portion of the exterior body surrounding / adjacent to the respective PCF 103a, 103b, e.g. at substantially a right angle. Each PCF 103a, 103b may bean electrically-actuated flap. For instance, upon receipt of an appropriate control action, e.g. user input request via a control panel or switch of the vehicle, an electric motor may be configured to move the flap from a closed position to an open position, or vice versa. Alternatively, in different examples each charge flap 103a, 103b may implement a non-powered release mechanism, such as a latch that is configured to be released such that the PCF 103a, 103b moves from the closed position to the open position. In the described example, a first one of the charge inlets and associated PCF 103a is positioned at one side 104a of the vehicle 10. In particular, as illustrated in Figure 1, the first charge inlet and PCF 103a is positioned towards a rear portion ofthe first side 104a of the vehicle, adjacent to / above a first rear wheel 105a of the vehicle 10. A second one ofthe charge inlets and associated PCF 103b is positioned at the opposite side 104b of the vehicle 10, in a corresponding position adjacent to / above a second rear wheel 105b of the vehicle 10. It will be understood that in different examples, charge inlets and associated PCFs may be disposed in different and / or additional positions. Although in the described example the vehicle 10 includes two charge inlets, it will be understood that in different examples of the invention the vehicle may include any suitable number of charge inlets other than two, specifically one charge inlet or more than two charge inlets, optionally where each charge inlet is of a different type. The vehicle 10 includes one or more image sensors 106 that are positioned at an exterior portion of the vehicle 10. The sensors 106 are configured to face away from the vehicle 10 such that they capture image data indicative of the vehicle surroundings. The sensors 106 may be positioned ata rear, front and / or side of the vehicle 10. In the described example, the vehicle 10 includes an image sensor 106 at the rear ofthe vehicle 10. In the described example, the image sensor 106 at the rear of the vehicle is a rear-facing parking camera, i.e. for use in a parking assistance control feature of the vehicle. In some examples, the vehicle 10 may additionally or alternatively include a front-facing parking camera positioned at a front of the vehicle 10. With continuing reference to Figure 1, and with additional reference to Figure 2, the vehicle 10 includes a control system 20 comprising a controller 201. The controller 201 comprises processing means 202 and memory means 203. The processing means 202 may be one or more electronic processing devices which operably execute computer-readable instructions. The memory means 203 may be one or more memory devices. The memory means 203 is electrically coupled to the processing means 202. The memory means 203 is configured to store instructions, and the processing means 202 is configured to access the memory means 203 and execute the instructions stored thereon. The controller 201 comprises an input means 204 and an output means 205. The input means 205 may comprise an electrical input of the controller 201. The output means 205 may comprise an electrical output of the controller 201. The input 204 is arranged to receive an image signal 21 from the one or more image sensors 106. The output 205 is arranged to output a control signal 22 based on one or more determinations performed in dependence on the received image signal 21. This will be discussed in greater detail below. The control signal 22 may for instance be configured to control an actuator to move the PCF 103a, 103b between the closed and open positions. Various different types / standards of charge inlets / ports and corresponding charge connectors are currently in the market. Figure 3 schematically illustrates nine different types of charge inlets, and their corresponding charge connectors, that are currently available. The different types of charge inlet are characterised by a different cross-section and mating features for connecting / mating to a corresponding charge connector, i.e. having a corresponding cross-section and mating features. The connection point / part, i.e. the part of the charge connector that connects to a charge inlet, is typically at the end of a handheld charging device attached by a charging cable / lead to the rest of a charging unit or EVSE. In the described example, the charge inlet associated with the first PCF 103a is a first type of charge inlet, e.g. CCS COMBO T1, and the charge inlet associated with the second PCF 103b is a second type of charge inlet different from the first type, e.g. CCS COMBO T2. The type of charging connector available at charging stations may vary according to different factors, such as geographical region / country. Different vehicles may be provided with one or more charge inlets, and each charge inlet on a vehicle may be of a different type / standard so as to allow the vehicle battery to be charged using different types of charge connector. However, it will be understood that it is not practical for a vehicle to include charge inlets corresponding to all of the different types / standards of charge connector in the market. An issue arises in that it can be challenging for a vehicle user / driver to ascertain whether a particular charging station has charge connectors that are compatible with the specific types of charge inlets provided in the vehicle - or which specific EVSEs or charging units in a charging station have corresponding charge connectors - without the user manually inspecting the EVSEs and / or the vehicle charging inlets. Indeed, even if the user is aware that a compatible charge connector is available at a specific EVSE, the user may still need to ascertain which of the vehicle charge inlets - and at which part of the vehicle - the charge connector is to be connected to. These issues are inconvenient for the user. Examples and embodiments of the invention that address these issues are described herein. In particular, examples and embodiments of the invention provide for automatic detection and identification of types of charge connector in the vicinity of a vehicle, and whether the identified charge connector type matches / corresponds with any of the charge inlet types of the vehicle. In some examples, a control action to notify the vehicle user and / or automatically open a PCF associated with a matching / corresponding charge inlet is opened, thereby increasing user convenience. Further advantages associated with the described examples and embodiments will become apparent in the following. Figure 4 schematically illustrates processing blocks / modules implemented by the control system 20 in accordance with one embodiment. In this embodiment, the control system 20 is configured to determine / identify a type of charge connector in the vicinity of the vehicle 10 based on captured image data of the charge connector - specifically, mating features or a cross section at an end of the charge connector (see Figure3) - and then determine whether the identified charge connector type corresponds to one of the types of charge inlet of the vehicle 10. The control system 20 is configured to receive a satellite navigation signal 401 indicative of a geographical location of the vehicle 10. The satellite navigation signal 401 may for instance be a Global Positioning System (GPS) signal from a GPS sensor of the vehicle 10. The satellite navigation signal 401 is in particular received at a geolocation algorithm module 402 of the control system 20. The geolocation algorithm module 402 uses the geographical location of the vehicle 10 as indicated in the satellite navigation signal 401 to determine whether the vehicle 10 is near to one or more charging points (having one or more charge connectors) at which the vehicle battery may be recharged. In particular, the geolocation algorithm module 402 accesses a data store or database, e.g. stored in the memory module 203, comprising a (predefined) list of geographical locations or regions in which it is known that one or more charging points are located, and then compares the current vehicle geographical location against the list of geographical locations to determine whether the vehicle is close to / in the vicinity of a charging point. For instance, the stored list may include a list of geographical regions in which charging stations (including charging points) are located. The geolocation algorithm module 402 then determines whether the vehicle 10 is currently located in one of said geographical locations. If it is determined at module 402 that the vehicle 10 is close to one or more charging points, e.g. that the vehicle 10 is located in one of the predefined geographical locations, then the module 402 is configured to output a trigger signal 403 to a perception algorithm module 404 of the control system 20. The trigger signal 403 is configured to initiate / activate execution of the perception algorithm / control routine. The perception algorithm module 404 may remain in a deactivated state or sleep mode until the trigger signal 403 is received. The geolocation algorithm module 402 may further be configured to determine whether a charging station that the vehicle 10 is in or near to (based on the satellite navigation signal 401) includes any charge connectors that are compatible with one or more of the charge inlets of the vehicle 10. If the module 402 determines that the charging station has no compatible charge connectors, e.g. by accessing a database storing information relevant to the specific charging station, then the vehicle 10 is configured to notify the vehicle user / driver that no compatible charge connectors are available at this location / charging station. The user can then drive to another location without needing to manually check the charge connectors at the charging station. The notification may be in the form of a message on the vehicle HMl. The database may be stored offboard the vehicle 10, e.g. in the Cloud. The trigger signal 403 to activate the perception algorithm module 404 may be sent only if it is determined that the vehicle 10 is in a geographical location with compatible charge connectors. The perception algorithm module 404 is for determining proximity of the vehicle 10 to a charging point or EVSE. That is, once it has been determined that the vehicle 10 is in the general vicinity or region of one or more charging points (via the geolocation algorithm module 402), it is further determined how close to a specific EVSE the vehicle 10 is located. By triggering / activating the perception algorithm module 404 only after it has been determined that the vehicle 10 is in the general vicinity of one or more EVSEs, the perception algorithm module 404 is executed only when it is likely that the vehicle 10 is close to an EVSE, thereby minimising computational cost associated with the control routine implemented by the control system 20. The perception algorithm module 404 is configured to receive an image sensor signal 405 from one or more image sensors of the vehicle 10. The one or more image sensors are in particular externally-facing image sensors of the vehicle 10. In the described example, the image sensor(s) include the rear-facing (parking) camera 106. Typically, an EVSE is arranged with an adjacent parking bay / space such that when a vehicle reverses into the parking bay, a rear of the vehicle faces the EVSE. However, a vehicle may alternatively enter the parking bay such that a front of the vehicle faces the EVSE. As such, in different examples a front-facing image sensor (camera) positioned at a front of the vehicle 10 may be configured to provide the image sensor signal 405 (either in addition to, or instead of, the rear camera 106). Indeed, in certain cases a parking bay for a vehicle may be arranged such that a side of the vehicle is adjacent to an EVSE. In further examples, therefore, one or more externally-facing image sensors positioned at one or both sides of the vehicle 10 may be configured to provide the image sensor signal 405 (either in addition to, or instead of, other externally-facing cameras of the vehicle 10). The perception algorithm module 404 is configured to identify one or more EVSEs (charging points) in the received image signal 405. The module 404 is then configured to determine a distance between the vehicle and the (or each) identified EVSE in the image data. In the described example, the perception algorithm module 404 utilises a machine learning algorithm in the form of an object detection algorithm to identify an EVSE in the image data. Any suitable object detection algorithm known to the skilled person may be used for this purpose. Examples of suitable object detection algorithms include SSD MobileNetV2 FPN-lite 320x320, You-Only-Look-Once v3 (YOLOv3), YOLOv4, YOLOv5l and YOLOv5s. Figure5 illustrates an example of an image 50 captured by the camera 106 and received by the perception algorithm module 404. The image 50 includes a plurality of EVSEs 51 a-51 d. In order that the object detection algorithm / model is able to detect the EVSEs 51 a-51 d in the image 50, the object detection model needs to be trained with images including EVSEs with different backgrounds. In one example, at least 1000 such images including an EVSE are collected for model training. The collected images may be used as follows: a random 60% of the collected images are chosen for training; a further 20% of the collected images are chosen for training cross validation during training; and, the remaining 20% of the collected images are chosen for model testing. Other suitable training techniques may be used. In the training dataset of collected images, each image may be annotated with a bounding box 52a-52d and a label which locates the EVSE 51a-51 d in the image 50. As illustrated in Figure 5, an EVSE 51a-51 d is typically of generally cuboidal shape (or box shape). The labelling may be in the form of coordinate axes (e.g. x and y axes values) of the bounding box in the image. These axes details can be used not only to locate the EVSE within the image, but also to determine how far the EVSE is from the camera (and therefore the vehicle). For instance, in the described example the x axis value, y axis value, width of the bounding box, and height of the bounding box are used to determine a distance that the detected EVSE is from the vehicle. It will be understood that as the vehicle approaches an EVSE - e.g. by reversing into a parking bay adjacent to the EVSE - the width and height of the bounding box associated with the EVSE will increase. The control system 20 may store the trained object detection model in the memory means 203, and the perception algorithm module 304 accesses the model as needed. The model may be pretrained prior to the vehicle 10 being used. In some examples, updates to the model may be received by the vehicle 10, e.g. via wireless communication from the Cloud, with the updated model replacing the existing trained model in the memory means 203. The trained model may be able to detect EVSEs with at least a certain accuracy rate, e.g. at least 90% accuracy. When the perception algorithm is being executed, the perception algorithm module 404 receives frames of image data captured by the rearfacing camera 106 via the image sensor signal 405. The module 404 may receive frames of image data at any suitable sampling rate. For each frame of received image data, the module 404 is configured to use the trained object detection model to detect an EVSE in the image, and to determine / create a bounding box around the detected EVSE. The module 404 is then configured to determine a distance between the detected EVSE and the camera 106 (i.e. the vehicle 10) based on the parameters of the bounding box, as described above. If the determined distance is greater than a predefined threshold distance then the module 404 continues to analyse the received frames of image data from the camera 106 for EVSEs and distances thereof from the vehicle 10. If, however, the determined distance is less than, or equal to, the predefined threshold distance, then the module 404 is configured to output a signal 406 to a parking state module 407 of the control system 20. The predefined threshold distance may be any suitable value, e.g. 1 metre. Upon receiving the signal 406, the parking state module 407 is configured to check / determine whether the vehicle 10 is in a parked state. In one example, the module 407 is configured to perform this determination with reference to a speed at which the vehicle 10 is moving, in either a forwards or rearwards direction. In such an example, the module 407 may be configured to receive a signal indicative of vehicle speed, e.g. from an appropriate sensor of the vehicle 10. In some examples, the module 407 determines that the vehicle 10 is in a parked state only if the vehicle speed equals zero. In other examples, the module 407 may determine that the vehicle 10 is in a parked state if the vehicle speed is less than a predefined threshold speed, e.g. less than 1 km / h, 2 km / h, 3 km / h, 4 km / h, 5 km / h, etc. In other examples, the module 407 is configured to perform the determination of whether the vehicle 10 is in the parked state with reference to a selected gear of the vehicle 10, either as an alternative to, or in addition to, the vehicle speed. For instance, the module 407 may determine that the vehicle 10 is in the parked state only when a parking gear of the vehicle 10 is selected / engaged. If the parking state module 407 determines that the vehicle 10 is in a parked state, then the module 407 is configured to output a trigger signal 408 to a charge connector algorithm module 409 of the control system 20. In the described example, the trigger signal 408 is configured to initiate / activate execution of the charge connector algorithm I control routine. The charge connector algorithm module 409 may remain in a deactivated state or sleep mode until the trigger signal 408 is received. In different examples, instead of the trigger signal 408 automatically activating ('waking up’) the charge connector algorithm module 409, the trigger signal 408 may be signal sent to request permission from a vehicle user to activate the charge connector algorithm module 409. For instance, the signal 408 may cause a notification to appear on a human-machine interface (HMI) of the vehicle 10, requesting that the vehicle user / driver confirm or deny permission, e.g. by user input via the HMI, for the charge connector algorithm module 409 to be activated. Upon receiving permission confirmation, the control system 20 is configured to activate the charge connector algorithm module 409. The charge connector algorithm module 409 is for determining a type of charge connector associated with the EVSE that the vehicle is adjacent to. That is, once it has been determined that the vehicle 10 is within the predefined threshold distance of the EVSE (as determined by the perception algorithm module 404) and that the vehicle 10 is in the parked state (as determined by the parked state module 407), it is further determined what type of charge connector is available at the detected EVSE. By tnggenng / activating the charge connector module 404 only after it has been determined that the vehicle 10 is within the predefined distance of a specific, detected EVSE and is in the parked state, the charge connector module 409 is executed only when it is likely that the vehicle 10 can detect the charge connector type, thereby minimising computational cost associated with the control routine implemented by the control system 20. The charge connector algorithm module 409 is configured to receive the image sensor signal 405. That is, the described example the charge connector algorithm module 409 receives the same image data as the perception algorithm module 404. However, it will be understood that in different examples the charge connector algorithm module 409 may receive an image sensor signal including image data that is different from the perception algorithm module 404, e g. from a different externally-facing image sensor of the vehicle 10. The charge connector algorithm is configured to detect the presence of a charge connector in the received image data. Referring again to Figure 5, a charge connector of an EVSE 51 a-51d typically comprises a cable extending from a main body of the EVSE, with one end of the cable being attached to the EVSE main body and the other end of the cable being unattached / free and having a handle portion and mating features for connecting the charge connector to a charge inletof the vehicle, e.g. mating features as illustrated in Figure 3. The charge connector algorithm is configured to detect the presence of a charge connector, and then determine the charge connector type, based on detecting an end portion comprising the mating features (attachment portion) of the charge connector. As such, in order to detect a charge connector, the image data in the image sensor signal needs to include the end portion comprising the mating features (attachment portion) of the charge connector. With the charge connector algorithm activated and the vehicle 10 parked, the vehicle user exits the vehicle 10, selects a charge connector that is part of the detected EVSE, and points / directs the attachment portion end of the charge connector towards one of the image sensors that is providing the image sensor signal 405, i.e. the rear-facing camera 106 in the described example. In the described example, the charge connector algorithm module 409 utilises an object detection algorithm to identify a charge connector in the image data. The object detection algorithm may be the same or a different type of object detection algorithm used by the perception algorithm module 404. Figure 6 illustrates an example of an image 60 captured by the camera 106 and received by the charge connector algorithm module 409. The image 60 includes a charge connector 61 that includes a handheld portion 611 and an end portion 612 that includes mating features 613 for engaging with corresponding mating features on a charge inlet to allow for vehicle battery charging. In order that the object detection algorithm / model is able to detect the charge connector 61 in the image 60, the object detection model needs to be trained with images including different types of charge connectors (e.g. as illustrated in Figure 3) at different angles, at different distances, with different backgrounds, etc. The training may be performed in a similar manner to the object detection algorithm for detecting EVSEs described above. However, the images in the training set need to include a charge connector being pointed substantially at the camera. In a corresponding manner to above, each image in the training set is labelled with a bounding box that defines / identified a location of the charge connector (end portion) in the image. Also similarly, the trained model may be stored in the memory means 203 and accessed by the charge connector algorithm module 409 when needed, and updates to the trained model may be received wirelessly from offboard the vehicle 10. When the charge connector algorithm is being executed, the charge connector algorithm module 409 receives frames of image data captured by the rear-facing camera 106 via the image sensor signal 405. For each frame of received image data, the module 409 is configured to use the trained object detection model to detect a charge connector in the image, and to determine / create a bounding box around the detected charge connector. The module 409 is then configured to determine a type of the detected charge connector from a plurality of predefined charge connector types, e.g. stored in the memory means 203 and accessible by the charge connector algorithm module 409. Any suitable number of predefined charge connector types may be stored, e.g. the nine types illustrated in Figure 3. Each charge connector type is characterised by features of its end portion that is for attaching to a charge inlet, e.g. cross-sectional end shape, position and / or shape of mating features, etc. The charge connector algorithm is therefore configured to identify characteristics of the charge connector 61 in the received image by identifying features in the defined bounding box. These identified features are then compared against predefined features of the predefined charge connector types in order to determine which type the detected charge connector 61 is, e.g. the type with most features in common. The output of the algorithm may be in the form of a classifier in which different predefined types of charge connector have a respective probability / classification score / value determined based on the number of matching features, for instance. The module 409 may determine that the predefined type having an output with the highest score - and where that score is above a certain classification / accuracy threshold, e.g. 90% - is the type of the charge connector in the image data. If the charge connector algorithm module 409 does not successfully determine the charge connector type, e g. because there is no detected connector in the received image or no matching type can be determined, then the module 409 continues to analyse received frames of image data to attempt to make a successful determination of charge connector type. If the charge connector algorithm has been being executed for a predefined amount of time, e.g. 300 seconds, without successful making a charge connector type determination, the connector algorithm module 409 may be configured to deactivate / enter a sleep mode (until a further tigger signal 408 is received). If the charge connector algorithm module 409 does successfully determine the charge connector type, then the module 409 is configured to determine whether the vehicle 10 has a charge inlet of a type that corresponds to the determined charge connector type. Details of the types of charge inlet on the vehicle 10 may be stored in the memory means 203 and be accessible by the charge connector algorithm module 40. If the vehicle 10 does not have a charge inlet of corresponding type, then in one example no action is taken, e.g. by suppressing output of any control signal from the module 409. In another example, the control system 20 may be configured to output a warning / error signal to the user, e.g. by causing one or more exterior lights of the vehicle 10 (visible to the user when positioned at a rear of the vehicle 10) to flash, optionally in a predefined warning pattern. If the vehicle 10 does have a charge inlet of corresponding type, then the charge connector algorithm module 409 is configured to output a control signal 410 to cause actuation of the PCF 103a, 103b of the vehicle 10 that is associated with ( / concealing) said charge inlet of corresponding type. In particular, the control signal 410 is configured to cause the relevant PCF 103a, 103b to move from the closed position (concealing the charge inlet) to the open position, so as to reveal the determined charge inlet. This therefore alerts the user as to which charge inlet to connect the selected charge connector to, without the user needing to attempt to attach the charge connector to different charge inlets of the vehicle 10 before a compatible charge inlet is identified, which may involve the user walking to a side of the vehicle 10 without a compatible charge inlet. Indeed, actuation of the relevant PCF 103a, 103b may be visible by the user when they are positioned at the rear of the vehicle 10. Further indications of which charge inlet is compatible with the selected charge connector may be provided, e.g. a signal to cause an indicator or other external light of the vehicle at a side of the vehicle 10 at which the compatible PCF 103a, 103b is located may be caused to light up. Figure 7 summarises the steps of a method 70 performed by the control system 20 in accordance with one embodiment of the invention. At step 701, the method 70 involves monitoring the image sensor signal 405 for image data including data indicative of a charge connector 61. The sensor signal 405 is received from an externally-facing image sensor of the vehicle 10, e.g. the rear-facing parking camera 106. At step 702, the method 70 involves determining a type of the charge connector 61 from a plurality of predefined types of charge connector, such as those illustrated in Figure 3. The determination is performed in dependence on the received image data from the camera 106. Optionally, the determination involves classifying the image data that includes the charge connector into one of a plurality of classification outputs each corresponding to a respective one of the predefined types of charge connector. The classification may be performed using a trained machine learning model or trained object detection algorithm. The classification may include determining a probability value associated with each of the plurality of classification outputs for the image data of the charge connector 61. The control system 20 may be configured to determine that the type of the charge connector 61 indicated in the image data is one of the defined types of charge connector associated with one of the classification outputs if the determined classification probability associated with said one of the classification outputs is greater than a defined threshold value. At step 703, the method 70 involves determining which one of the charge inlets of the vehicle 10 has a type corresponding to the determined charge connector type. This may be performed via a lookup of known information, e.g. stored in the memory means 203, about the vehicle 10 such as type of charge inlets included in the vehicle 10 and their relative position on / in the vehicle 10. At step 704, the method 70 involves outputting the control signal 410 to actuate the PCF 103a, 103b concealing said determined one of the charge inlets from the closed position to the open position. Optionally, the steps 701, 702 of monitoring the image sensor signal 405 and determining charge connector type are performed / initiated only if it is determined that the vehicle 10 is within a predefined threshold distance of an EVSE 51a-51d. This distance determination may also be performed using image data collected from the externally-facing image sensors 106 of the vehicle 10, and implementing a machine learning algorithm to detect an EVSE and determine its distance from the vehicle 10. Further optionally, the step of detecting an EVSE and determining its distance from the vehicle 10 is performed / initiated only if it is determined that the vehicle 10 is in the vicinity of one or EVSEs. This location determination may be performed based on the geographical location of the vehicle 10 - as provided via a satellite navigation signal indicating vehicle location - relative to predefined geographical locations / regions that include or are near to one or more EVSEs, e.g. in a charging station. In an example in which the geographical location of the vehicle 10 is monitored, a list of the predefined charge connector types (from which the detected charge connector may be matched) may be adjusted to reduce the number of possibilities. This adjustment may be based on the specific geographical location of the vehicle 10. For instance, it may be known that certain types of charge connector are not available / present in certain geographical regions / territories. This can beneficially reduce the likelihood of an incorrect determination of charge connector type, and / or increase the probability of the type of the detected charge connector being accurately determined. Figure 8 schematically illustrates processing blocks / modules implemented by the control system 20 in accordance with another embodiment. In this embodiment, the control system 20 is configured to determine / identify a type of charge connector in the vicinity of the vehicle 10 based on captured image data of an EVSE or charging unit that includes one or more charge connectors - specifically, based on characteristics of an exterior of the EVSE, such as characters / text or codes that identify charge connector type - and then determine whether the identified charge connector type corresponds to one of the types of charge inlet of the vehicle 10. Like in the embodiment illustrated in Figure 4, in the present embodiment the control system 20 is configured to receive the satellite navigation signal 401, and the geolocation algorithm module 402 is configured to determine whether the vehicle 10 is close to one or more EVSEs (e.g. in a charging station) and / or determine whether one or more EVSEs with a charge connector type compatible with a charge inlet of the vehicle 10 are nearby, based on the received satellite navigation signal 401. Also like in the Figure 4 embodiment, the geolocation algorithm module 402 is configured to output the trigger signal 403 to activate or'wake up’ the perception algorithm module 404. Furthermore, like in the Figure 4 embodiment, the perception algorithm module 404 is configured to receive the image sensor signal 405 and determine, based on the received signal 405, whether the vehicle 10 is within the above-mentioned predefined threshold distance, e.g. one metre, of a detected EVSE. Like in the Figure 4 embodiment, if the determined distance is greater than the predefined threshold distance then the module 404 continues to analyse the received frames of image data from the camera 106 for EVSEs and distances thereof from the vehicle 10. If, however, the determined distance is less than, or equal to, the predefined threshold distance, then in the present embodiment the module 404 is configured to output a trigger signal 806 to a characteristic detection algorithm module 807 of the control system 20. The trigger signal 806 causes the characteristic detection algorithm module 807 to activate or 'wake up’. The characteristic detection algorithm module 807 is configured to determine one or more characteristics associated with the EVSE detected by the perception algorithm module 404. The characteristic detection module 807 is configured to receive the image sensor signal 405. Although in the present embodiment the characteristic detection algorithm module 807 receives the same image data as the perception algorithm module 404, i.e. from the same externally-facing vehicle image sensor, in different examples the characteristic detection algorithm module 807 may receive image sensor data from a different image sensor of the vehicle 10. The characteristic detection algorithm module 807 is in particular configured to analyse frames of received image data including an EVSE to detect one or more characteristics in relation to an exterior of the EVSE. In the described example, the characteristic detection algorithm analyses the image of the detected EVSE to detect any characteristics or features of the EVSE that indicate the EVSE is out of order, i.e. the charge connector(s) of the EVSE is not available to be used to recharge the vehicle battery. Figure 9 illustrates an example of an image 90 that may be received by the characteristic detection algorithm module 807, where the image includes (at least part of) an EVSE 91. In the illustrated example, the EVSE 91 includes two charge connectors 92a, 92b, each having a handle portion 921a, 921b and an attachment portion (not shown) docked in a respective docking point 93a, 93b of the EVSE 91. Figure 9 further shows that each of the handle portion 921a, 921b has a respective 'out of order’ tag / label 94a, 94b attached thereto, indicating that the charge connectors 92a, 92b are not currently available for use. The characteristic detection algorithm is configured to analyse the image 90 for such tags 94a, 94b attached to charge connectors 92a, 92b of the EVSE 91, e.g. by searching the image 90 for handle portions 921a, 921b of charge connectors in the image, and then searching for tags attached to the handle portions. The characteristic detection algorithm may further be configured to detect any characters / text on any identified tags 93a, 93b. The characteristic detection algorithm may be configured to perform text recognition (in a known manner) on the detected text, and determine whether the text indicates that the associated charge connector 92a, 92b is out of order, i.e. unavailable for use. If the characteristic detection algorithm determines that the charge connector(s) of the EVSE is(are) out of order, then a notification may be output to the vehicle user to indicate the determination, e.g. via a display screen of an HMI in the vehicle cabin. This notifies the user that they will be unable to recharge the vehicle battery at this EVSE without the user needing to exit the vehicle 10 to check this. The characteristic detection algorithm may be configured to search a received image frame for different or additional features indicating that the EVSE, or charge connectors thereof, are out of order. In one example, an exterior of the EVSE may include a screen, e.g. digital screen, that may display an ‘out of order’ message when the EVSE is out of order. The characteristic detection algorithm may therefore be configured to search a received image for such a display screen and perform text recognition of any message displayed thereon. In the described example, if no such determination that charge connectors of the detected EVSE are out of order, then the characteristic detection algorithm is configured to determine, based on the received image signal 405, a type of each of the one or more charge connectors associated with the EVSE. Figure 10 illustrates an example of an image 100 that may be received by the characteristic detection algorithm module 807, where the image includes (at least part of) an EVSE 110. In the illustrated example, the EVSE 110 includes two docking points 1101a, 1101b, each configured to receive an attachment portion of a respective charge connector. In the illustrated example, a charge connector 1102 is docked in one of the docking points 1101a, but no charge connector is docked in the other docking point 1101b, i.e. it is empty. As illustrated in Figure 10, the exterior of the EVSE 110 includes various text, codes, logos, etc. The characteristic detection algorithm is configured to analyse the image 100 to identify / extractfeatures / characteristics on the exterior of the EVSE 110 - namely, text, codes, logos, etc. in the described example - and then to determine the type of charge connector that is part of the EVSE 110 in dependence on the identified characteristics of the EVSE 110. The characteristic detection algorithm may focus the image analysis to parts of the image that correspond to parts of the EVSE 110 that are known to include characteristics / features indicative of the type of charge connector associated with the EVSE. In the illustrated example, it may be seen that a part / portion 1103a, 1103b of the EVSE 110 above each of the docking points 1101a, 1101b includes text that indicates which type of charge connector is for docking in the respective docking point 1101a, 1101b. In this example, one docking point 1101a is for receiving a charge connector of type CHAdeMO, and the other docking point 1101 b is for receiving a charge connector of type CCS (illustrated in Figure 3). In the described example, the characteristic detection algorithm therefore identifies an area 1103a, 1103b adjacent to the identified docking points 1101a, 1101b in the image 100, and detects any characteristics in the form of a character string, e.g. a string of one or more alphanumeric characters, in the area 1103a, 1103b. As illustrated in Figure 10, the area 1103a, 1103b in which the characteristic detection algorithm searches for such character strings may be defined by defining a bounding box 1104a, 1104b delineating the extent of the search area. The characteristic detection algorithm detects the text in the bounding boxes 1104a, 1104b, and determines which types of charge connector are associated with the EVSE 110 based on the identified text. In this example, the name of the type of charge connector is shown on the EVSE 110. The characteristic detection algorithm may use coordinates of the bounding box in the image to determine whether certain character strings relate to certain charge connector docking points, e.g. same / similar horizontal (X) coordinate for text (indicating charge connector type) that is above the corresponding docking point. The characteristic detection algorithm then determines whether any of the determined types of charge connector associated with the EVSE 110 are compatible with any of the one or more types of charge inlet on the vehicle 10, where the types of vehicle charge inlet are known to the control system 20. In different examples, different features of the EVSE 110 may be used to determine the charge connector types associated therewith. For instance, as illustrated in Figure 10, the EVSE 110 includes a code-specifically, a quick response (QR) code 1105 - that uniquely identifies the specific EVSE 110. Detection of this QR code 1105 may then allow the characteristic detection algorithm to access a database including information relating to specific EVSEs and, in particular, to access a database entry corresponding to the specific EVSE 110 using the unique QR code 1105. The database entry may then include details of the charge connector types associated with the EVSE 110. The database may be stored off-board the vehicle 10, e.g. in the Cloud, and may be accessed wirelessly by the control system 20. If the characteristic detection algorithm determines that none of the charge connectors of the EVSE 110 are compatible with any of the vehicle charge inlets, then a notification may be output to the vehicle user to indicate the determination, e.g. via a display screen of an HMI in the vehicle cabin. This notifies the user that they will be unable to recharge the vehicle battery at this EVSE 110 without the user needing to exit the vehicle 10 to check this. If, however, the characteristic detection algorithm determines that at least one of the charge connectors of the EVSE 110 is compatible with at least one of the charge inlets of the vehicle 10, then in the described example the characteristic detection algorithm module 807 is configured to output a trigger signal 808 to an availability detection algorithm module 809 of the control system 20. The trigger signal 808 may be considered to activate or 'wake up’ the availability detection algorithm module 809. The availability detection algorithm module 809 is for determining whether a compatible charge connector is (currently) docked in its docking point / station. Referring back to Figure 10, the CHAdeMO charge connector 1102 is docked in the docking station 1101a and is therefore available for use. On the other hand, the CCS docking station 1101b is empty, indicating that the CCS charge connector is already in use, and therefore currently unavailable for use by the vehicle 10. The availability detection algorithm module 809 may focus the image analysis only on a subset of the docking stations of the EVSE, namely, those docking stations that are for receiving charge connectors that are compatible with the vehicle charge inlet(s). The availability detection algorithm module 809 may include an object detection model to determine whether a compatible charge connector is currently available for use, i.e. is in its docking station. The object detection model may be any suitable type of model, such as those listed above. The object detection model may be trained in a corresponding manner to the object description model described above. In particular, the model may be trained on several images of docking points / stations with and without different types of charge connector. If the availability detection algorithm module 809 determines that a compatible charge connector is not available, then then a notification may be output to the vehicle user to indicate the determination, e.g. via a display screen of an HMI in the vehicle cabin. This notifies the user that they will be unable to recharge the vehicle battery at this EVSE 110 without the user needing to exit the vehicle 10 to check this. If, however, the availability detection algorithm module 809 determines that a compatible charge connector is available, the module 809 is configured to output a control signal 810 indicating that a compatible charge connector is available. In one example, the control signal 810 may cause a notification to be displayed on a display screen of a vehicle HMI. For instance, the notification may prompt the vehicle user to indicate whether they wish for the PCF 103a, 103b associated with the charge inlet corresponding to the compatible charge connector to be opened. If the user indicates yes, e.g. via a touch input on the HMI, then a further signal casing the appropriate PCF 103a, 103b to be actuated from the closed to the open position is transmitted. In such examples, and where more than one type of compatible charge connector-inlet pair is available, the notification may request user input on which PCF 103a, 103b to open. In another example, the control signal 810 may automatically cause the appropriate PCF 103a, 103b to be actuated from the closed to the open position. In such examples, and where more than one type of compatible charge connector-inlet pair is available, the control system 20 may be configured to automatically select which PCF 103a, 103b to actuate, e.g. based on predefined preferences such as selecting the charge connector-inlet pair that results in the fastest recharging of the vehicle battery. Actuation of the appropriate PCF 103a, 103b may be performed only when it is determined that the vehicle 10 is in a parked state, as above. Figure 11 summarises the steps of a method 120 performed by the control system 20 in accordance with one embodiment of the invention. At step 1201, the method 120 involves monitoring the image sensor signal 405 for image data including data indicative of an EVSE 110 that comprises one or more charge connectors. The sensor signal 405 is received from an externally-facing image sensor of the vehicle 10, e.g. the rear-facing parking camera 106. At step 1202, the method 120 involves determining a type of at least one of the charge connectors 1102 of the EVSE 110. The determination is based on in the monitored image data. The determination may involve executing the characteristic detection algorithm in order to detect one or more defined characteristics indicative of a type of the one or more charge connectors 1102 of the EVSE 110. The characteristics or features relate to an exterior of the EVSE 110, e.g. characters, codes, logos, etc. on the exterior, or size, shape, colour, etc. of the EVSE 110. The method 120 may then involve determining the type of the at least one charge connector in dependence on at least one of the detected characteristics. At step 1203, the method 120 involves determining whether at least one of the determined types of charge connector corresponds to, i.e. is compatible with, at least one of the types of charge inlet of the vehicle 10. If it is determined that none of the charge connector types correspond to one of the charge inlet types, then the method may involve outputting an incompatibility signal to indicate that the EVSE 110 is incompatible with the vehicle charge inlets. On the other hand, if at least one of the charge connector types is determined to correspond to one of the charge inlet types, then at step 1204 the method 120 involves outputting a control signal 810 to indicate that the EVSE 110 is compatible with one or more of the vehicle charge inlets. Optionally, prior to outputting the control signal 810, the method may involve identifying whether the compatible charge connector is docked in a docking point / station 1101a, 1101b of the EVSE 110. If not, then the method 120 may involve outputting a notification signal to a driver of the vehicle 10 indicating that the charge connector type is unavailable. This step may alternatively be performed prior to determining a type of the charge connector(s). Further optionally, prior to outputting the control signal 810, either prior to or after determining a type of the charge connector(s), the method 120 may involve determining whether the or each charge connector 92a, 92b is out of order. If yes, then the method 120 may involve outputting a notification signal indicating this to a vehicle user, e.g. via a vehicle HMI. Similarly to the previous embodiment, the steps 1201, 1202 of monitoring the image sensor signal 405 and determining charge connector type are performed / initiated only if it is determined that the vehicle 10 is within a predefined threshold distance of an EVSE 90. Also similarly to the previous embodiment, the step of detecting an EVSE and determining its distance from the vehicle 10 is performed / initiated only if it is determined that the vehicle 10 is in the vicinity of one or EVSEs, e.g. based on the geographical location of the vehicle 10. The embodiment described with reference to Figures 8 to 11 determines the compatibility of charge connectors of an EVSE with charge inlets of the vehicle 10 based on image data of (the exterior of) the EVSE. On the other hand, the embodiment described with reference to Figures 4 to 7 determines the compatibility of a charge connector of an EVSE with one or more charge inlets of the vehicle 10 based on image data of the charge connector, specifically an end portion of the charge connector, including mating features and / or a cross section thereof. In one example, the control system 20 may be configured to implement the embodiment described with reference to Figures 8 to 11 as a default mode for determining charge connector type compatibility. However, there may be situations in which this approach is not suitable for, or not capable of, determining charge connector type. For instance, in cases of bad lighting, bad weather, etc., the acquired image data of an EVSE may not be sufficiently clear to determine characteristics thereof in order to perform the charge connector type determination. In some examples, therefore, in a case in which the control system 20 is unable to perform the charge connector type determination based on the EVSE exterior, the control system 20 may be configured to implement the approach described with reference to Figures 4 to 7, which may be more likely to be able to determine charge connector type if the user holds the charge connector sufficiently close to the vehicle camera that acquires the image data. The terms power charge flap and powered charge flap are intended to be used interchangeably, and either can replace PCF in the foregoing. 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

1. A control system for a vehicle comprising one or more types of charge inlet, the control system comprising one or more processors collectively configured to:monitor an image sensor signal, received from an externally-facing image sensor of the vehicle, for image data including data indicative of an electric vehicle supply equipment comprising one or more charge connectors;determine, in dependence on the monitored image data, a type of at least one of the charge connectors of the electric vehicle supply equipment;determine whether at least one of the determined types of charge connector corresponds to one of the types of charge inlet of the vehicle; and,if at least one of the charge connector types is determined to correspond to one of the charge inlet types, then output a control signal to indicate that the electric vehicle supply equipment is compatible with one or moreof the vehicle charge inlets.

2. A control system according to Claim 1, wherein to determine the type of the at least one charge connector the control system is configured to:execute a detection algorithm configured to detect one or more defined characteristics, of an exterior of the electric vehicle supply equipment, indicative of a type of the one or more charge connectors of the electric vehicle supply equipment; and,determine the type of the at least one charge connector in dependence on at least one of the detected characteristics.

3. A control system according to Claim 2, wherein the defined characteristics include one or more character strings each comprising at least one character, wherein the detection algorithm is a character recognition algorithm configured to identify one or more character strings on the exterior of the electric vehicle supply equipment , and wherein the type of the at least one charge connector is determined in dependence on at least one of the identified character strings.

4. A control system according to Claim 3, wherein one of the identified character strings is adjacent to a docking point for docking a charge connector of the type indicated by the identified character string, wherein if the charge connector type indicated by the identified character string is determined to correspond to one of the charge inlet types, then, prior to outputting the control signal, the control system is configured to:execute a further detection algorithm, using the monitored image data, to identify whether a charge connector is docked in the docking point; and,if no charge connector is determined to be docked in the docking point, then output a notification signal to a driver of the vehicle indicating that the charge connector type is unavailable.

5. A control system according to any of Claims 2 to 4, wherein the defined characteristics are indicative of a unique identification code associated with the electric vehicle supply equipment, the control system being configured to:lookup a database entry including the unique identification code in an accessible database of electric vehicle supply equipment unique identification codes; and,retrieve the type of the at least one charge connector of the electric vehicle supply equipment from the database entry.

6. A control system according to any previous claim, wherein the detection algorithm is configured to detect one or more further defined characteristics, of the exterior of the electric vehicle supply equipment, indicative that one or more charge connectors of the electric vehicle supply equipment is out of order, and wherein, if the detection algorithm detects one or more of the further defined characteristics,then the control system is configured to output a notification signal indicating that the one or more charge connectors of the electric vehicle supply equipment is out of order prior to outputting the control signal.

7. A control system according to any previous claim, the control system being configured to:determine, in dependence on the monitored image data, a distance between the electric vehicle supply equipment and the vehicle;initiate the step of determining the type of at least one of the charge connectors of the electric vehicle supply equipment when the determined distance is less than a predefined threshold distance.

8. A control system according to any previous claim, the control system being configured to:monitor a satellite navigation system signal indicative of a geographical location of the vehicle;determine, in dependence on the monitored satellite navigation system signal, whether the geographical location of the vehicle is within one of at least one defined geographical area in which a respective charging station is located; and,when the vehicle is determined to be in one of the defined geographical areas, initiate the step of monitoring the image sensor signal for image data including data indicative of the electric vehicle supply equipment.

9. A control system according to any previous claim, wherein each of the charge inlets of the vehicle is concealed by a respective power charge flap, disposed on an exterior of the vehicle, when the respective power charge flap is in a closed position and is revealed when the respective power charge flap is in an open position, and wherein the control signal is configured to actuate the power charge flap concealing said one of the charge inlets, corresponding to said one of the charge connectors, from the closed position to the open position.

10. A control system according to Claim 9, wherein if it is determined that a plurality of the charge connector types correspond to a respective plurality the charge inlet types, then the control system is configured to select one of the plurality of charge inlet types in dependence on predefined preferences, and wherein the control signal is configured to actuate the power charge flap concealing said selected charge inlet from the closed position to the open position.

11. A control system according to any of Claims 1 to 8, wherein each of the charge inlets of the vehicle is concealed by a respective power charge flap, disposed on an exterior of the vehicle, when the respective power charge flap is in a closed position and is revealed when the respective power charge flap is in an open position, and wherein the control signal is configured to cause a notification to be displayed on a human-machine interface in a cabin of the vehicle prompting a user of the vehicle to confirm actuation of the power charge flap concealing said one of the charge inlets, corresponding to said one of the charge connectors, from the closed position to the open position.

12. A control system according to any previous claim, wherein if it is determined that none of the charge connector types correspond to one of the charge inlet types, then the control system is configured to output an incompatibility signal to indicate that the electric vehicle supply equipment is incompatible with the vehicle charge inlets.

13. A vehicle comprising the control system of any previous claim.

14. A method for a vehicle comprising one or more types of charge inlet, the method comprising:monitoring an image sensor signal, received from an externally-facing image sensor of the vehicle, for image data including data indicative of an electric vehicle supply equipment comprising one or more charge connectors;determining, in dependence on the monitored image data, a type of at least one of the charge connectors of the electric vehicle supply equipment;determining whether at least one of the determined types of charge connector corresponds to one of the types of charge inlet of the vehicle; and,if at least one of the charge connector types is determined to correspond to one of the charge inlet types, then outputting a control signal to indicate that the electric vehicle supply equipment is compatible with one or moreof the vehicle charge inlets.

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

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