Controlling vehicle seat recline

Abstract

A control system (100, fig 1) for a vehicle suspension system 158, comprising processors 104 that receive an input 135 associated with a seat recline request 156 from a user of the vehicle; and output

Description

TECHNICAL FIELD The present disclosure relates to controlling vehicle seat recline. Aspects of the invention relate to a control system, to a system, to a vehicle, to a method, and to computer readable instructions. BACKGROUND It is known to provide vehicle seats that are configured to recline. However, the amount of recline that can be achieved for vehicle seats can be limited because of, for example, limitations on space for reclining and limitations introduced by the reclining mechanism(s) of the vehicle seat or seats. It is an aim of the present invention to address one or more of the disadvantages associated with the prior art. SUMMARY OF THE INVENTION Aspects and embodiments of the invention provide a control system, a 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 controlling a suspension system of a vehicle, the control system comprising one or more processors collectively configured to: receive an input associated with a seat recline request from a user of the vehicle; and output at least one control signal to control the vehicle suspension to recline at least one seat of the vehicle, in dependence on the received input associated with a seat recline request. An advantage is that the vehicle suspension can be used to recline the seats, for example row 2 seats, of the vehicle. Optionally, the control system may be configured to determine a capability of the vehicle suspension to be used in reclining the at least one seat of the vehicle in dependence on the seat recline request input, wherein the control system is configured to output the at least one control signal to control the vehicle suspension to recline the at least one seat of the vehicle in dependence on the determined capability. An advantage is that use of vehicle suspension in reclining seats can be prevented if necessary. For example use of vehicle suspension in reclining seats can be prevented if there is insufficient battery state of charge to recover to a driveable position. Optionally, the control system may be configured to determine the capability of the vehicle suspension to be used in reclining the at least one seat of the vehicle in dependence on vehicle speed. An advantage is that the use of the vehicle suspension in reclining at least one seat of the vehicle can be prevented if the speed of the vehicle is not suitable for use of the vehicle suspension in reclining at least one seat of the vehicle. Optionally, the control system may be configured to determine the capability of the vehicle suspension to be used in reclining the at least one seat of the vehicle in dependence on at least one of: a torque source of the vehicle being in a non-travelable state, the vehicle being in a neutral or park state, and a battery state of charge. An advantage is that the use of the vehicle suspension in reclining at least one seat of the vehicle can be prevented if state of the torque source, gear state, and / or battery state of charge is not suitable for use of the vehicle suspension in reclining at least one seat of the vehicle. Optionally, the control system may be configured to output at least one control signal to control at least one seat recliner to recline the at least one seat of the vehicle in dependence on the input associated with a seat recline request from the user of the vehicle. 1 An advantage is that a single input can control two vehicle systems. Optionally, the control system may be configured to: receive at least one cancellation input; and output at least one control signal to control the vehicle suspension to return to a state that the vehicle suspension was in prior to the input associated with a seat recline request being received. An advantage is that the vehicle suspension can readily be returned to a previous state to, for example, return the vehicle suspension to a driveable state. Optionally, the control system may be configured to output at least one control signal to control the vehicle suspension to reduce the recline of the at least one seat of the vehicle, in dependence on the received cancellation input. An advantage is that the amount of recline of the at least one seat can be controlled by a cancellation input. Optionally, the cancellation input may control the vehicle suspension to return to a neutral condition in which the vehicle is driveable. An advantage is that the cancellation input can be used to return the vehicle suspension to a driveable condition. Optionally, the at least one cancellation input may be from at least one of a user of the vehicle and at least one vehicle system. An advantage is that both a user and at least one vehicle system can cause the vehicle suspension to return to a state that the vehicle suspension was in prior to the input associated with a seat recline request being received. For both a user and at least one vehicle system can cause the vehicle suspension to return to a driveable state. Optionally, the at least one cancellation input may be received in dependence on at least one of: a rise in vehicle speed, a torque source of the vehicle entering a travelable state, the vehicle being in-gear, and a battery state of charge entering a depleted state. An advantage is that the vehicle suspension can automatically be returned to a previous state if there is a change in the state of the vehicle that means that the vehicle suspension should not be used in reclining at least one seat of the vehicle. Optionally, the control system may be configured to: monitor a battery state of charge while the vehicle suspension is used to recline the at least one seat of the vehicle; and in dependence on determining that the battery state of charge satisfies a depletion condition, output at least one control signal to control the vehicle suspension to return to a state that the vehicle suspension was in prior to the input associated with a seat recline request being received. An advantage is that the vehicle can be prevented from becoming stuck in a vehicle suspension reclined state. This can, for example, prevent the vehicle from becoming stuck in a non-driveable state. Optionally, the control system may be configured to, in response to determining that the vehicle suspension cannot be used in reclining the at least one seat of the vehicle, output at least one control signal to control at least one seat recliner to recline the at least one seat of the vehicle and to inhibit use of vehicle suspension in dependence on inputs associated with a seat recline request. An advantage is that the at least one seat can still be reclined when it is not possible to make use of vehicle suspension for reclining the vehicle. Optionally, the at least one control signal may be configured to control an active vehicle suspension at a first end of the vehicle to decompress and to control an active vehicle suspension at a second end of the vehicle to compress. 2 An advantage is that this enables at least one seat of the vehicle to be reclined using the suspension of the vehicle. Optionally, decompress may alternatively be referred to as extend and compress may alternatively by referred to as contract. An advantage is that the vehicle suspension may be extended and contracted as needed to recline at least one seat of the vehicle. Optionally, the first end may be a front of the vehicle and the second end may be a rear of the vehicle. An advantage is that the front of the vehicle may be raised and the rear of the vehicle may be lowered to recline at least one seat of the vehicle. Optionally, the control system may be configured to determine a target recline angle for at least one seat of the vehicle. An advantage is that it can be determined if it is needed to use the vehicle suspension in reclining at least one seat of the vehicle to achieve the target recline angle. Optionally, determining the target recline angle comprises determining an incline angle of the vehicle. An advantage is that this allows the incline angle of the vehicle to be considered when determining the target recline angle for at least one seat of the vehicle. Optionally, the control system may be configured to receive at least one user input to select a target recline angle level for use of vehicle suspension in reclining at least one seat of the vehicle. An advantage is that this enables a user to select how reclined the at least one seat of the vehicle should be. Optionally, the control system may comprise 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; and wherein the at least one electronic processor is configured to access the at least one memory device and execute the instructions thereon so as to: receive an input associated with a seat recline request from a user of the vehicle; and output at least one control signal to control the vehicle suspension to recline at least one seat of the vehicle, in dependence on the received input associated with a seat recline request. An advantage is that the vehicle suspension can be used to recline the seats, for example row 2 seats, of the vehicle. According to another aspect of the present invention there is provided a control system for controlling a suspension system of a vehicle, the control system comprising one or more processors collectively configured to: receive an input associated with a seat recline request; and output at least one control signal to control the vehicle suspension to recline at least one seat of the vehicle, in dependence on the received input associated with a seat recline request. An advantage is that the vehicle suspension can be used to recline the seats, for example row 2 seats, of the vehicle. According to a further aspect of the present invention there is provided a system comprising the control system of any preceding claim and at least one actuator of an active suspension system of the vehicle. According to a further aspect of the invention there is provided a vehicle comprising the system or the control system. According to a further aspect of the invention there is provided a method for controlling a suspension system control system of a vehicle, the method comprising: receiving an input associated with a seat recline request from a user of the vehicle; and outputting at least one control signal to control the vehicle suspension to recline the at least one seat of the vehicle, in dependence on the received input associated with a seat recline request. According to a further aspect of the invention there is provided computer readable instructions which, when executed by one or more processors, cause the one or more processors to perform the method. According to various, but not necessarily all, embodiments there is provided an apparatus comprising means for performing at least part of one or more methods described herein. The description of a function and / or action should additionally be considered to also disclose any means suitable for performing that function and / or action. Functions and / or actions described herein can be performed in any suitable way using any suitable method. The description of a feature, such as an apparatus or a component of an apparatus, for performing a function should additionally be considered to also disclose an apparatus or a component of an apparatus configured to perform the function. Similarly, the description of a feature, such as an apparatus or a component of an apparatus, configured to perform a function should additionally be considered to also disclose an apparatus or a component of an apparatus for performing the function. 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: Figure 1 shows a schematic representation of an example of a control system; Figure 1A shows a schematic representation of an example of a non-transitory computer-readable storage medium; Figure 2 shows a perspective view of an example of a vehicle; Figure 3 shows a first flow chart showing a method of reclining at least one seat of a vehicle; Figure 4 shows an example of a use case; Figure 5 shows an example of a use case; Figure 6 shows an example of a use case; Figure 7 shows an example of a use case; Figure 8 shows a second flow chart showing a method of reclining at least one seat of a vehicle; and Figure 9 shows and example of a use case. DETAILED DESCRIPTION With reference to Figure 1, there is illustrated a control system 100 for a vehicle. The control system 100 comprises one or more controller 101. 4 The control system 100 is configured to receive an input 135 associated with a seat recline request 156 from at least one input device 114, such as a user interface 190, and output at least one control signal 155 to control at least one output device 116, such as vehicle suspension 158 and / or at least one seat recliner 170. For example, the at least one control signal 155 can control at least one actuator of an active suspension system 158. The control system may determine a capability of the vehicle suspension 158 to be used in reclining at least one seat 160 of the vehicle and output the at least one control signal 155 in dependence on the determined capability. The control system 100 as illustrated in Figure 1 comprises one controller 101, although it will be appreciated that this is merely illustrative. The controller 101 comprises processing means 104 and memory means 130. The processing means 104 may be one or more electronic processing device 104 which operably executes computer-readable instructions. The memory means 130 may be one or more memory device 130. The memory means 130 is electrically coupled to the processing means 104. The memory means 130 is configured to store instructions, and the processing means 104 is configured to access the memory means 130 and execute the instructions stored thereon. The controller 100 comprises an input means 110 and an output means 112. The input means 110 may comprise an electrical input 110 of the controller 100. The output means 112 may comprise an electrical output 112 of the controller 100. The input means 110 is arranged to receive an input 135 associated with a seat recline request 156 from at least one input device 114, such as a user interface 190. The input 135 is an electrical signal which is indicative of a user request to recline at least one seat 160 of a vehicle. The output 112 is arranged to output at least one control signal 155, which can be referred to as a vehicle suspension recline control signal 155, indicative of a request for controlling the vehicle suspension 158 to recline at least one seat 160 of the vehicle, for example the at least one control signal can be indicative of a request for controlling at least one actuator 182 of an active suspension system 158. In examples, additionally or alternatively the at least one control signal 155 is indicative of a request for controlling at least one seat recliner 170. In examples, the input 110 is arranged to receive at least one cancellation input 172 from at least one input device 114, the at least one cancellation input 172 associated with a request to cancel and / or prevent seat recline request 156. The at least one cancellation input 172 is an electrical signal which is indicative of a request to cancel and / or prevent reclining at least one seat 160 of a vehicle using the vehicle suspension 158. The output 112 is arranged to output at least one control signal 155, which can be referred to as a vehicle suspension recline cancellation control signal 155, indicative of a request for controlling the vehicle suspension 158 to return to a state 174 that the vehicle was in prior to the input 135 associated with a seat recline request 156 being received and / or to prevent use of the vehicle suspension 158 in reclining at least one seat 160 of the vehicle. For example, the at least one control signal 155 can be indicative of a request for controlling at least one actuator 182 of an active suspension system 158 to return the vehicle suspension 158 to a state 174 that the vehicle was in prior to the input 135 associated with a seat recline request 156 being received. The at least one input device 114 can comprise any suitable device or devices. For example, the at least one input device 114 can comprise any suitable input device via which a user of the vehicle, such as a driver or passenger of the vehicle, can make an input 135 associated with a seat recline request 156 and / or a cancellation input 172. In examples, the at least one input device 114 comprises at least one user interface 190, for example at least one touch screen of the vehicle configured to enable a user of the vehicle to make an input 135 associated with a seat recline request 156 and / or at least one cancellation input 172. In some examples, the at least one input device 114 comprises at least one vehicle system 178. For example, at least one vehicle system 178 configured to output the at least one cancellation input 172. In examples, the at least one vehicle system 178 comprises at least one vehicle system 178 configured to monitor at least one of vehicle torque source state, vehicle gear, vehicle speed, and battery state of charge. I n some examples, the at least one input device 114 comprises at least one sensor of the vehicle 200. Accordingly, in examples, the control system 100 is configured to receive sensor data from at least one sensor of the vehicle 200. For example, sensor data for use in determining whether vehicle suspension 158 can be used in reclining at least one seat 160 of the vehicle 200. The at least one output device 116 can comprise any suitable device or devices. For example, the at least one output device 116 can comprise at least one vehicle system 178 for and / or involved in controlling vehicle suspension. In examples, the at least one output device 116 comprises vehicle suspension 158 or at least one component of vehicle suspension 158. For example, the at least one output device 116 can comprise at least one actuator 182 of an active suspension system 158. Consequently, figure 1 illustrates a system comprising a control system 100 as described herein and at least one actuator 182 of an active suspension system 158 of the vehicle. In examples, the at least one output device 116 comprises at least one vehicle system 178 for and / or involved in controlling at least one seat 160 of the vehicle. In examples, the at least one output device 116 comprises at least one seat recliner 170. Figure 1A illustrates a non-transitory computer-readable storage medium 103 comprising the instructions 108 (computer software). Figure 2 illustrates a vehicle 200 according to an embodiment of the present invention. The vehicle 200 comprises a control system 100 as illustrated in Figure 1. A vehicle 200 in accordance with an embodiment of the present invention is described herein with reference to the accompanying Figure 2. As shown in Figure 2, the steering system is installed in a vehicle 200. In some, but not necessarily all examples, the vehicle 200 is a passenger vehicle, also referred to as a passenger car or as an automobile. In other examples, embodiments of the invention can be implemented for other applications, such as commercial vehicles. In the illustrated example, the vehicle 200 comprises at least one torque source 164 configured to provide torque to the wheels of the vehicle 200. In examples the at least one torque source 164 comprises at least one electric machine such as an electric drive unit (EDU) and / or at least one internal combustion engine. The at least one torque source can be referred to as at least one prime mover of the vehicle 200. In the illustrated example, the vehicle 200 comprises at least one seat 160 and at least one seat recliner 170 configured to move at least one portion of the seat 160 to recline the seat 160. The at least one seat recliner 170 can be referred to as at least one seat recline mechanism. In the illustrated example, the vehicle 200 comprises vehicle suspension, such as active suspension system 158. In examples, the vehicle 200 comprises at least one actuator 182 of an active suspension system 158. In examples, the vehicle suspension 158 is controllable to decompress / compress to raise / lower a first and second end of the vehicle 200 (see, for example, figures 4 to 7). In examples, at least actuator 182 of active suspension system 158 is controlled to raise / lower a first end and a second end of the vehicle 200. Consequently, figure 2 illustrates a vehicle 200 comprising a system of a control system 100 as described herein and at least one actuator 182 of an active suspension system 158 of the vehicle 200 or a control system 100 as described herein. Figure 3 illustrates a method 300 according to an embodiment of the invention. The method 300 is a method of controlling recline of at least one seat 160 of a vehicle 200, such as the vehicle 200 illustrated in Figure 2. In particular, the method 300 is a method of controlling a suspension system 158 of a vehicle 200. The method 300 may be performed by the control system 100 illustrated in Figure 1. In particular, the memory 130 may comprise computer-readable instructions 108 which, when executed by the processor 104, perform the method 300 according to an embodiment of the invention. In summary, the method 300 comprises receiving an input 135 associated with a seat recline request 156 from a user of the vehicle 200 and outputting at least one control signal 155 to control the vehicle suspension 158 to recline at least one set 160 of the vehicle 200, in dependence on the received input 135 associated with a seat recline request 156. One or more blocks illustrated in the example of figure 3 is / are optional and can be omitted. For example, at least one of blocks 304, 308, 310, 312, 314, 316, and 318 can be omitted. At block 302, method 300 comprises receiving an input 135 associated with a seat recline request 156 from a user of the vehicle 200. The input 135 can comprise any suitable input from a user of the vehicle 200. In examples, the input 135 is received via a user interface of the vehicle 200. For example, a user can make an input 135 using at least one touch screen of the vehicle 200 such as row one centre screen and / or row two centre screen. The input 135 is associated with seat recline request 156 as the input 135 may be received during an ongoing seat recline request 156 or may initiate a seat recline request 156. Accordingly, in examples, the input 135 is a seat recline request 156. For example, the input 135 can be an input made following an initial seat recline request 156 to confirm that vehicle suspension 158 can be used to recline at least one seat 160 of the vehicle 200 or the input 135 can be made to request recline of at least one seat 160 of the vehicle 200. In examples, a seat recline request 156 is a request to alter the position of at least one seat 160 of the vehicle or at least one component of at least one seat 160 of the vehicle 160 to place the at least one seat 160 in a more reclined position such that a user sitting in the seat 160 is more reclined. For example, a seat recline request 156 can comprise a request to lower a back support portion of the at least one seat 160. At block 304, method 300 comprises determining a capability of the vehicle suspension 158 to be used in reclining the at least one seat 160 of the vehicle 200 in dependence on the seat recline request input 135. In examples, block 304 comprises determining information of the circumstances and / or status of the vehicle 200 and determining whether the vehicle suspension 158 can be used in reclining theat least one seat 160 of the vehicle 200 in dependence on the determined information of the circumstances and / or status of the vehicle 200. Determining the circumstances of the vehicle 200 can comprise determining whether the environment of the vehicle 200 is suitable to allow vehicle suspension 158 to be used in reclining the at least one seat 160 of the vehicle 200. In some examples, determining the circumstances of the vehicle 200 comprises determining whether there is at least one object in the environment of the vehicle 200 that would make contact with or damage the vehicle 200 if the vehicle suspension 158 were used to recline at least one seat 160 of the vehicle 200. For example, data from at least one external facing camera of the vehicle 200, and / or any other suitable sensor of the vehicle 200, can be used to determine if there is at least one object located near the vehicle 200 that would make contact with the vehicle 200 if the vehicle suspension 158 were used to raise an end and / or lower an end of the vehicle 200 to recline at least one seat 160 of the vehicle 200. Additionally, or alternatively, determining whether the environmentof the vehicle 200 is suitable to allow vehicle suspension 158 to be used in reclining the at least one seat 160 of the vehicle 200 comprises receiving at least one user input confirming that the environment of the vehicle 200 is suitable to allow vehicle suspension 158 to be used in reclining the at least one seat 160 of the vehicle 200. In some examples, determining whether the environment of the vehicle 200 is suitable to allow vehicle suspension 158 to be used in reclining the at least one seat 160 of the vehicle 200 comprises determining whether a user cancellation input 172 has been received. In examples, a user can make a user cancellation input 172 if the user notices, for example, that there is at least one object located near the vehicle 200 that would make contact with the vehicle 200 if the vehicle suspension 158 were used to raise an end and / or lower an end of the vehicle 200 to recline at least one seat 160 of the vehicle 200. Determining the status of the vehicle 200 can comprise receiving information from at least one vehicle system 178 and determining the state of at least one vehicle system 178 in dependence on the received information. In examples, determining the status of the vehicle 200 comprises determining at least one of vehicle speed, vehicle state, and vehicle gear. Vehicle state can comprise vehicle power mode. In some examples, block 304 comprises determining the capability of the vehicle suspension 158 to be used in reclining the at least one seat 160 of the vehicle 200 in dependence on vehicle speed. In examples, it is not possible to use the vehicle suspension 158 in reclining the at least one seat 160 of the vehicle 200 if the speed of the vehicle is greater than zero. The speed of the vehicle 200 can be the speed of the wheels of the vehicle 200 or the speed of the vehicle 200 relative to the ground, for example if the vehicle is sliding. In some examples, block 304 comprises determining the capability of the vehicle suspension 158 to be used in reclining the at least one seat 160 of the vehicle 200 in dependence on at least one of: a torque source 164 of the vehicle 200 being in a non-travelable state, the vehicle 200 being in a neutral or park state, and a battery state of charge 168. I n examples, it is not possible to use the vehicle suspension 158 in reclining the at least one seat 160 of the vehicle 200 unless the torque source(s) 164, such as an internal combustion engine and / or EDU, of the vehicle 200 is / are in a non-travelable state. In examples, a non-travelable state means that the torque source(s) 164 is / are unable to deliver torque to the wheels of the vehicle. In examples, it is not possible to use the vehicle suspension 158 in reclining the at least one seat 160 of the vehicle 200 unless the vehicle is in a neutral or park state. In examples, being in a neutral or park state means that no gear of the vehicle is selected. In examples, being in a park state means that the transmission of the vehicle 200 is locked, for example at least one parking pawl is engaged, and / or at least one friction brake, for example a hand brake or ebrake, of the vehicle 200 is engaged. In examples, it is not possible to use the vehicle suspension 158 in reclining the at least one seat 160 of the vehicle 200 unless there is sufficient battery state of charge to do so. In examples, block 304 comprises determining if a battery of the vehicle 200 is in a depleted state or condition / if a depletion condition is satisfied. For example, block 304 can comprise determining if battery state of charge is below a threshold amount. Any suitable threshold can be used. In examples, block 304 comprises determining that there is sufficient battery state of charge to enable the vehicle 200 to return the vehicle suspension 158 to a drivable state to prevent the vehicle suspension 158 from becoming stuck in a position in which the vehicle 200 is not drivable. In examples, it is not possible to use the vehicle suspension 158 in reclining the at least one seat 160 of the vehicle 200 unless there is sufficient air stored in the reservoir of the air suspension system to return the vehicle suspension to a driveable state, and the compressor of the air suspension system is not too hot. Accordingly, in examples, block 304 comprises determining whether there is sufficient air stored in the reservoir of the air suspension system and the compressor of the air suspension system is not too hot. If it is determined at block 304 that the vehicle suspension 158 can be used in reclining the at least one seat 160 of the vehicle 100, method 300 proceeds to block 306. In examples, block 306 is performed in response to determining that the vehicle suspension 158 can be used in reclining the at least one seat 160 of the vehicle 200. At block 306, method 300 comprises outputting at least one control signal 155 to control the vehicle suspension 158 to recline at least one seat 160 of the vehicle 200, in dependence on the received input 135 associated with a seat recline request 156. Consequently, figure 3 illustrates a method 300 for controlling a suspension system 158 of a vehicle 200, the method comprising: receiving an input 135 associated with a seat recline request 156 from a user of the vehicle 200; and outputting at least one control signal 155 to control the vehicle 8 suspension 158 to recline at least one seat 160 of the vehicle 200, in dependence on the received input 135 associated with a seat recline request 156. In examples, controlling the vehicle suspension 158 comprises controlling the vehicle suspension 158 to tilt or incline the vehicle 200 to recline at least one seat 160 of the vehicle 200. In some examples, block 306 comprises outputting at least one control signal 155 to control an active vehicle suspension 158 at a first end 186 of the vehicle 200 to decompress and to control an active vehicle suspension 158 at a second end 188 of the vehicle 200 to compress. Decompress may alternatively be referred to as extend and compress may alternatively be referred to as contract. The first end 186 of the vehicle 186 may be a front of the vehicle 200 and the second end 188 may be a rear of the vehicle 200. In examples, block 306 comprise modifying relative ride height between the ride height at leading wheels and the ride height at trailing wheels of the vehicle 200. By way of example, reference is made to the examples of figures 4 and 5. Figure 4 schematically illustrates a side view of a vehicle 200. The vehicle 200 can be a vehicle 200 as described in relation to figure 2. The vehicle 200 has a first end 186, which in figure 4 is the front end of the vehicle 200, and a second end 188, which in figure 4 is a rear end of the vehicle 200. In the example of figure 4, the vehicle 200 comprises active vehicle suspension 158 at the front wheels and back wheels. In figure 4, the vehicle 200 is in a driveable state and the active suspension 158 at the front and back wheels is controlled so that the vehicle 200 is substantially level on a flat surface. In the example of figure 4 the vehicle 200 comprises a seat 160 that can be controlled to recline. For example, a seat recliner 170 can be controlled to move the back of the seat 160 to recline the seat 160. In figure 4 the back of the seat 160 is at an angle A relative to a line perpendicular to the ground. Figure 5 is similar to the example of Figure 4, however in figure 5 the vehicle suspension 158 has been controlled to recline the seat 160 of the vehicle 200. In the example of figure 5 the active suspension 158 at the first end 186 of the vehicle 200 has been decompressed and the active suspension 158 at the second end 188 of the vehicle 200 has been compressed. Using the vehicle suspension 158, the vehicle 200 has therefore been inclined relative to a flat surface and the seat 160 has been reclined. In the example of figure 5 the angle A is larger than the angle A in the example of figure 4. Using the vehicle suspension 158 to recline at least one seat 160 of the vehicle enables the relationship between a user and a screen of the vehicle 200 to remain unchanged as the seat 160 of the vehicle 200 that the user is occupying is reclined. For example, a screen in the eye line of the user prior to using the vehicle suspension 158 to recline the user’s seat 160 will remain in the eye line of the user when the vehicle suspension 158 is used to recline the vehicle 200 as neither of the user’s seat and the screen is moved relative to one another but rather the vehicle 200 is reclined overall, keeping the screen in the eyeline of the user. Returning to the example of figure 3, as discussed above, method 300 can comprise block 304. In examples, method 300 comprises determining a capability of the vehicle suspension 158 to be used in reclining the at least one seat 160 of the vehicle 200 in dependence on the seat recline request input 135, wherein the method 300 comprises outputting that at least one control signal 155 to control the vehicle suspension 158 to recline that least one seat 160 of the vehicle 200 in dependence on the determined capability. At block 308, method 300 comprises outputting at least one control signal 155 to control at least one seat recliner 170 to recline the at least one seat 160 of the vehicle 200 in dependence on the input 135 associated with a seat recline request 156 from the user of the vehicle 200. A seat recliner 170 can be referred to as at least one seat reclining mechanism, or at least one seat reclining device. In examples, a seat recliner 170 can control at least one of seat slide, seat height, seat recline, seat headrest, seat calf-rest, and seat footrest. For example, a seat recliner 170 can control seat squab recline and seat calf-rest position. Block 308 can be performed after, before, or at least partially overlapping with performance of block 306. For example, at least one seat recliner 170 and the vehicle suspension 158 can be controlled at different times or at least partially at the same time. Examples of the disclosure therefore provide for a user to make a single input 135 which results in control of at least the at least one seat recliner 170 and the vehicle suspension 158 to recline the at least one seat 160 of the vehicle 200. That is, in examples, a user can make a single input which results in control of multiple vehicle systems 178 to recline at least one seat 160 of the vehicle 200. By way of example, reference is made to the example of figure 7. Figure 7 is similar to the example of figure 5, however in the example of figure 7 the seat recliner 170 has also been controlled to move the back of the seat 160 into a more reclined position. In the example, of figure 7 the back of the seat 160 has been moved to the maximum extent and the vehicle suspension 158 has been used to recline the seat 160 meaning that the seat is more reclined in the example of figure 7 than would be possible through use of the seat recliner 170 alone. It can be seen in the example of figure 7 that the angle A is larger than in figures 4 to 6. Figure 6 will be discussed later. Returning to the example of figure 3, at block 310, method 300 comprises in response to determining that the vehicle suspension 158 cannot be used in reclining the at least one seat 160 of the vehicle, preventing use of the vehicle suspension 15 in reclining the at least one seat 160. In some examples, no action is taken. However, in examples block 310 comprises outputting at least one control signal 155 to inhibit use of vehicle suspension 158 in dependence on inputs 135 associated with a seat recline request 156. For example, if it is determined that there is an object in the way and / or battery state of charge is not sufficient, a user interface can be updated to prevent use of the vehicle suspension 158 in reclining at least one seat 160 of the vehicle 200, for example one or more options can be made unavailable in a user interface. In some examples, method 300 comprises in response to determining that the vehicle suspension 158 cannot be used in reclining the at least one seat 160 of the vehicle 200, outputting at least one control signal 155 to control at least one seat recliner 170 to recline the at least one seat 160 and to inhibit use of vehicle suspension 158 in dependence on inputs 135 associated with a seat recline request 156. For example, actions as described in relation to block 308 can be performed with block 310. In examples, it therefore remains possible to recline at least one seat 160 of the vehicle 200 using a seat recliner 170 when it is not possible to use the vehicle suspension 158 to recline the at least one seat 160. Accordingly, in examples, different control outputs can be realised from the same input 135. By way of example, reference is made to the example of figure 6. Figure 6 is similar to the example of figure 4, however in the example of figure 6 an input 135 associated with a seat recline request 156 has been received and it has been determined that the battery state of charge is insufficient to enable the vehicle suspension 158 to be used in reclining the seat 160. In the example of figure 6 the vehicle suspension 158 remains unchanged compared to figure 4, however the seat recliner 170 has been controlled to recline the back of the seat 160. This results in theangle A in figure 6 being larger than the corresponding angle A in figure 4 but smaller than the corresponding angle A in figure 7. Returning to the example of figure 3, at block 312 method 300 comprises receiving at least one cancellation input 172. The at least one cancellation input 172 can be from at least one of a user of the vehicle 200 and at least one vehicle system 178. 10 For example, the cancellation input 172 can comprise any suitable input from a user of the vehicle 200. In examples, the cancellation input 172 is received via a user interface of the vehicle 200. For example, a user can make a cancellation input 172 using at least one touch screen of the vehicle 200 such as row one centre screen and / or row two centre screen. The cancellation input 172 can be referred to as a vehicle recline cancellation input 172 or a vehicle suspension recline cancellation input 172. A cancellation input 172 can be received from any suitable vehicle system 178, for example at least one vehicle system 178 involved in block 304. In examples, the at least one cancellation input 172 is received in dependence on at least one of: a rise in vehicle speed, a torque source 164 of the vehicle 200 entering a travelable state, the vehicle 200 being in-gear, and a battery state of charge entering a depleted state. For example, a cancellation input 172 can be received if the vehicle speed is greater than zero, a torque source 164 of the vehicle 100 is able to deliver torque to the wheels of the vehicle, the vehicle 200 is not in neutral or park state, and / or the battery state of charge is lower than a threshold. At least one cancellation input 172 can be received at any suitable point during method 300. For example, a cancellation input 172 can be received after block 312, but before block 304 has been performed or completed. In such examples, it can be determined at block 304 that the vehicle suspension 158 cannot be used in reclining at least one seat 160 of the vehicle 200 and method 300 can proceed to block 310. For example, a user can make an input 135 associated with a seat recline request 156 and can then immediately make a cancellation input 172. At least one cancellation input 172 can be received during performance of block 306 or after block 306 has been performed. For example, at least one cancellation input 172 can be received while the vehicle suspension 158 is being controlled to recline at least one seat 160 of the vehicle 200 or after the control of the vehicle suspension 158 to recline the at least one seat 160 is complete. In such examples, method 300 proceeds to block 314. At block 314, method 300 comprises outputting at least one control signal 155 to control the vehicle suspension 158 to return to a state 174 that the vehicle suspension 158 was in prior to the input 135 associated with a seat recline request 156 being received. Consequently, in examples, method 300 comprises receiving at least one cancellation input 172 and outputting at least one control signal 155 to control the vehicle suspension 158 to return to a state 174 that the vehicle suspension 158 was in prior to the input 135 associated with a seat recline request 156 being received. In some examples, method 300 comprises outputting at least one control signal 155 to control the vehicle suspension 158 to reduce the recline of the at least one seat 160 of the vehicle 200, in dependence on the received at least one cancellation input 172. In examples, any actions performed at block 306 are reversed at block 314. For example, any compression / decompression of active vehicle suspension 158 can be decompressed / compressed. In examples, the at least one cancellation input 172 controls the vehicle suspension 158 to return to a neutral condition in which the vehicle 200 is driveable. At block 316, method 300 comprises monitoring a battery state of charge 168 while the vehicle suspension 158 is used to recline the at least one seat 160 of the vehicle 200. For example, a user may make use of one or more entertainment features of the vehicle 200 while the vehicle suspension 158 is used to recline the at least one seat 160 of the vehicle 200, which may reduce the battery state of charge 168. At block 318 it is determined if the battery state of charge 168 satisfies a depletion condition 180. For example, block 318 can comprise determining if battery state of charge has depleted to below a threshold amount. Any suitable threshold can be used. In examples, block 318 comprises determining that there is sufficient battery state of charge to enable the vehicle 200 to return the vehicle suspension 158 to a drivable state to prevent the vehicle suspension 158 from becoming stuck in a position in which the vehicle 200 is not drivable. If it is determined at block 318 that the depletion condition 180 is not satisfied, method 300 returns to 316. Blocks 316 and 318 can be performed substantially continuously or periodically. If it is determined at block 318 that the battery state of charge 168 satisfies a depletion condition 180 method 300 comprises outputting at least one control signal 155, which can be considered a cancellation input 172, to control the vehicle suspension 158 to return to a state 174 that the vehicle suspension 158 was in prior to the input 135 associated with a seat recline request 156 being received. In examples, if f it is determined at block 318 that the battery state of charge 168 satisfies a depletion condition 180 method 300 proceeds to block 314. Consequently, in examples, method 300 comprises monitoring a battery state of charge 168 while the vehicle suspension 158 is used to recline the at least one seat 160 of the vehicle 200, and in dependence on determining that the battery state of charge 168 satisfies a depletion condition 180, outputting at least one control signal 155 to control the vehicle suspension 158 to return to a state 174 that the vehicle suspension 158 was in prior to the input 135 associated with a seat recline request 156 being received. By way of example, reference is made to the example of figure 9. Figure 9 shows an example plot of battery state of charge 168 on the Y-axis 900 against time on the X-axis 902. I n the example of figure 9 the vehicle suspension 158 is being used to recline at least one seat 160 of the vehicle 200 and the user is reclining in the seat 160 using at least one vehicle system, for example watching a movie on a screen of the vehicle 200. This causes the battery state of charge 168 to deplete over time. At time 906, the battery state of charge hits the threshold and it is determined that a depletion condition 180 is satisfied, and therefore the vehicle suspension 158 is controlled to return to a neutral condition in which the vehicle 200 is driveable, and preventing the vehicle suspension 158 from becoming stuck in the reclined position. In some examples, method 300 comprises determining a target recline angle for at least one seat 160 of the vehicle 200. A target recline angle can be set by a user, for example in the input 135 and / or seat recline request 156, or can be preconfigured. For example, method 300 can comprise receiving at least one user input to select a target recline angle for use of vehicle suspension 158 in reclining at least one seat 160 of the vehicle 200. In examples, the amount that the vehicle suspension 158 is used to recline the at least one seat 160 is determined in dependence on the target recline angle. For example, the vehicle suspension 158 is used to recline the at least one seat 160 for target recline angles that are not achievable via control of a seat recliner 170 alone. In some examples, determining target recline angle comprises determining an incline angle of the vehicle 200. For example, the target recline angle can be changed in dependence on an overall incline of the vehicle 200. Figure 8 illustrates a method 800 according to an embodiment of the invention. The method 800 is a method of controlling recline of at least one seat 160 of a vehicle 200, such as the vehicle 200 illustrated in Figure 2. The method 300 may be performed by the control system 100 illustrated in Figure 1. In particular, the memory 130 may comprise computer-readable instructions 108 which, when executed by the processor 104, perform the method 800 according to an embodiment of the invention. At block 802 a user seat one touch recline request is received. Block 802 feeds into blocks 808, 814, and 826 Blocks 806 and 804 also feed into block 808. At block 806, row 1 (R1) seat occupancy is checked. For example, it is determined at block 806 if R1 seat(s) is occupied. In examples, information from at least one sensor can be used at block 806. At block 804, one touch recline availability is checked based on fitment, battery and vehicle status. In examples, available battery power is checked, the feature fitment of the vehicle seats is checked and vehicle power mode, car mode and so on is checked. At block 808, based on the inputs of blocks 802, 804, and 806 R1 passenger seat away request is validated. For example, if there is no passenger in R1 seat, the vehicle fitment, battery and vehicle status are acceptable, and a request has been received, the seat away request is validated. Block 808 feeds into block 810 in which R1 seat slide, R1 seat height, R1 seat recline, R1 seat headrest fold, R2 footrest are controlled based on current position, target position and obstruction detection. Block 808 feeds into block 812 in which R1 seat slide, R1 seat height, R1 seat recline, R1 seat headrest fold, and R2 footrest are actuated. For example, R1 seat slide, R1 seat height, R1 seat recline, R1 seat headrest fold, and R2 footrest are actuated to form part of a bed mode for row 2 (R2) seat. Block 802 and 804 feed into block 814. At block 814 R2 passenger seat recline request is validated, based on the request at 802 and check at block 804. If the R2 passenger seat recline request is validated method 800 proceeds to block 816. At block 816 R2 seat squab recline and R2 calf-rest position are controlled based on current position, target position, and obstruction detection. Block 816 feeds into block 818 in which R2 seat squab recline and R2 calf-rest position are actuated. For example, R2 seat squab recline and R2 calf-rest position are actuated to recline R2 seat in combination with R1 seat to form a bed mode for R2 seat. Blocks 802, 804, 820, 822, and 824 feed into block 826. At block inputs of vehicle speed, vehicle gear and vehicle state are determined, and at block 824 pre-conditions, such as sufficient battery state of charge to re-raise the suspension, are determined. At block 822 cancellation of suspension adjustment may occur. At block 826 suspension pitch movement availability is validated based on the request at block 802 and the inputs from block 804, 820, 822, and 824. If the suspension pitch movement availability is validated at block 826, method 800 proceeds to block 828. In some examples, at block 826 it is checked whether there is sufficient air stored in the reservoir of the air suspension system and the compressor of the air suspension system is not too hot. At block 828 suspension pitch movement is controlled. For example, suspension pitch is controlled to further recline R2 seat. Block 828 feeds into block 830 in which suspension pitch movement is actuated. Examples of the disclosure are advantageous and / or provide technical benefits. For example, examples of the disclosure provide for additional recline of at least one seat of a vehicle. For example, examples of the disclosure provide for control of multiple vehicle systems in dependence on a single user input. It is to be understood that the or each controller 100 can comprise a control unit or computational device having one or more electronic processors (e.g., a microprocessor, a microcontroller, an application specific integrated circuit (ASIC), etc.), and may comprise a single control unit or computational device, or alternatively different functions of the or each controller 100 may be embodied in, or hosted in, different control units or computational devices. As used herein, the term “controller,” “control unit,” or “computational device” will be understood to include a single controller, control unit, or computational device, and a plurality of controllers, control units, or computational devices collectively operating to provide the required control functionality. A set of instructions could be provided which, when executed, cause the controller 100 to implement the control techniques described herein (including some or all of the functionality required for the method(s) described herein). The set of instructions 108 could be embedded in said one or more electronic processors 104 of the controller 100; or alternatively, the set of instructions 108 could be provided as software to be executed in the controller 100. A first controller or control unit may be implemented in software run on one or more processors. One or more other controllers or control units may be implemented in software run on one or more processors, optionally the same one or more processors as the first controller or control unit. Other arrangements are also useful. The, or each, electronic processor 104 may comprise any suitable electronic processor (e.g., a microprocessor, a microcontroller, an ASIC, etc.) that is configured to execute electronic instructions 108. The, or each, electronic memory device 130 may comprise any suitable memory device and may store a variety of data, information, threshold value(s), lookup tables or other data structures, and / or instructions therein or thereon. In an embodiment, the memory device 130 has information and instructions for software, firmware, programs, algorithms, scripts, applications, etc. stored therein or thereon that may govern all or part of the methodology described herein. The processor, or each, electronic processor 104 may access the memory device 130 and execute and / or use that or those instructions and information to carry out or perform some or all of the functionality and methodology described herein. The at least one memory device 130 may comprise a computer-readable storage medium (e.g. a non-transitory or non-transient storage medium) that may comprise any mechanism for storing information in a form readable by a machine or electronic processors / computational devices. Examples of the form include, without limitation: a magnetic storage medium (e.g. floppy diskette); optical storage medium (e.g. CD-ROM); magneto optical storage medium; read only memory (ROM); random access memory (RAM); erasable programmable memory (e.g. EPROM ad EEPROM); flash memory; or electrical or other types of medium for storing such information / instructions. It will be appreciated that embodiments of the present invention can be realised in any suitable form of hardware, software or a combination of hardware and software. For example, it is contemplated that the present invention is not limited to being implemented by way of programmable processing devices, and that at least some of, and in some embodiments all of, the functionality and or method steps of the present invention may equally be implemented by way of non-programmable hardware, such as by way of non-programmable ASIC, Boolean logic circuitry, etc. 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. The blocks illustrated in the accompanying figures may represent steps in a method and / or sections of code in the computer program 108. The illustration of a particular order to the blocks does not necessarily imply that there is a required or preferred order for the blocks and the order and arrangement of the block may be varied. Furthermore, it may be possible for some steps to be omitted. Features described in the preceding description may be used in combinations other than the combinations explicitly described. Although functions have been described with reference to certain features, those functions may be performable by other features whether described or not. Although features have been described with reference to certain embodiments, those features may also be present in other embodiments whether described or not.

Claims

1. A control system for controlling a suspension system of a vehicle, the control system comprising one or more processorscollectively configured to:receive an input associated with a seat recline request from a user of the vehicle; andoutput at least one control signal to control the vehicle suspension to recline at least one seat of the vehicle, in dependence on the received input associated with a seat recline request.

2. The control system of claim 1, configured to determine a capability of the vehicle suspension to be used in reclining the atleast one seat of the vehicle in dependence on the seat recline request, wherein the control system is configured to output the at least one control signal to control the vehicle suspension to recline the at least one seat of the vehicle in dependence on the determined capability.

3. The control system of claim 2, configured to determine the capability of the vehicle suspension to be used in reclining the atleast one seat of the vehicle in dependence on vehicle speed.

4. The control system of claim 2 or 3, configured to determine the capability of the vehicle suspension to be used in reclining theat least one seat of the vehicle in dependence on at least one of: a torque source of the vehicle being in a non-travelable state, the vehicle being in a neutral or park state, and a battery state of charge.

5. The control system of any preceding claim, configured to output at least one control signal to control at least one seat reclinerto recline the at least one seat of the vehicle in dependence on the input associated with a seat recline request from the user of the vehicle.

6. The control system of any preceding claim, configured to:receive at least one cancellation input; and output at least one control signal to control the vehicle suspension to return to a state that the vehicle suspension was in prior to the input associated with a seat recline request being received.

7. The control system of claim 6, wherein the at least one cancellation input is from at least one of a user of the vehicle and atleast one vehicle system.

8. The control system of claim 6 or 7, wherein the at least one cancellation input is received in dependence on at least one of: arise in vehicle speed, a torque source of the vehicle entering a travelable state, the vehicle being in-gear, and a battery state of charge entering a depleted state.

9. The control system of any preceding claim, configured to:monitor a battery state of charge while the vehicle suspension is used to recline the at least one seat of the vehicle; andin dependence on determining that the battery state of charge satisfies a depletion condition, output at least one control signal to control the vehicle suspension to return to a state that the vehicle suspension was in prior to the input associated with a seat recline request being received.

10. The control system of any preceding claim dependent through claim 2, configured to, in response to determining that thevehicle suspension cannot be used in reclining the at least one seat of the vehicle, output at least one control signal to control at least one seat recliner to recline the at least one seat of the vehicle and to inhibit use of vehicle suspension in dependence on inputs associated with a seat recline request.

11. The control system of any preceding claim, wherein the at least one control signal is configured to control an active vehiclesuspension at a first end of the vehicle to decompress and to control an active vehicle suspension at a second end of the vehicle to compress.1512. A system comprising the control system of any preceding claim and at least one actuator of an active suspension system ofthe vehicle.5 13. A vehicle comprising the system of claim 12 or the control system of at least one of claims 1 to 11.

14. A method for controlling a suspension system control system of a vehicle, the method comprising:receiving an input associated with a seat recline request from a user of the vehicle; and outputting at least one control signal to control the vehicle suspension to recline the at least one seat of the vehicle, in10 dependence on the received input associated with a seat recline request.

15. Computer readable instructions which, when executed by one or more processors, cause the one or more processors to perform the method of claim 14.15

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