Control system

Abstract

According to an aspect of the present invention there is provided a control system for controlling a vehicle. The control system comprises a vehicle controller configured to control one or more physic

Description

[0001] CONTROL SYSTEM

[0002] TECHNICAL FIELD

[0003] The present disclosure relates to a control system. In particular, the invention relates to a control system for controlling one or more physical vehicle operations. Aspects of the invention relate to a control system for controlling a vehicle, to a vehicle comprising the control system, and to a method for controlling a vehicle.

[0004] BACKGROUND

[0005] It is known to control many functions of a vehicle “by wire”, meaning that for many vehicle operations no mechanical connection is required for providing a human operator’s input to an output component ultimately responsible for performing a desired physical vehicle operation, such as steering or accelerating. Accordingly, a vehicle may comprise a vehicle controller that receives human-input instructions and controls the vehicle by sending instructions to actuators or other devices to perform the desired physical vehicle operation. Mechanically decoupling the human operator input from the vehicle controller and / or output component facilitates the use of an auxiliary input device for controlling the vehicle.

[0006] It is an aim of the present invention to address one or more of the disadvantages associated with the prior art.

[0007] SUMMARY OF THE INVENTION

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

[0009] According to an aspect of the present invention there is provided a control system for controlling a vehicle. The control system comprises a vehicle controller configured to control one or more physical vehicle operations. The control system comprises one or more vehicle sensors for measuring one or more parameters in an environment external to the vehicle. The control system comprises an electronic memory device comprising a plurality of pre-programmed instructions for initiating physical vehicle operations. The control system comprises one or more processors collectively configured to receive, from an auxiliary input device, a first input signal indicating a desired human input to be input to the vehicle controller, and receive, from the one or more vehicle sensors, a second input signal indicative of one or more measured parameters of the environment external to the vehicle. The one or more processors are collectively configured to determine, in dependence on the second input signal, whether the desired human input indicated by the first input signal would result in the vehicle controller initiating a safe physical vehicle operation. The one or more processors are collectively configured to, in dependence on the determination that the desired human input would result in a safe physical vehicle operation, output a control signal to the vehicle controller comprising the desired human input. Additionally, the one or more processors are collectively configured to, in dependence on the determination that the desired human input would not result in a safe physical vehicle operation, disregard the first input signal and either output, to the vehicle controller, a control signal comprising instructions to continue an ongoing physical vehicle operation, or select, from the electronic memory device, a pre-programmed instruction for initiating a physical vehicle operation, and output, to the vehicle controller, a control signal comprising the selected pre-programmed instruction for initiating the physical vehicle operation.

[0010] Whilst the first input signal may indicate a desired human input to be input to the vehicle controller to initiate a new physical vehicle operation to effect a change to the vehicle or its operation, it should be understood that the desired human input to be input to the vehicle controller may be an input to continue one or more ongoing physical vehicle operations with no change. Accordingly, the first input signal may indicate a desired human input for continuing one or more ongoing physical vehicle operations to be input to the vehicle controller.

[0011] In an embodiment, the second input signal may comprise time-derived dynamic data such as speed and momentum relative to static and dynamic external objects, hazards and environmental features. Accordingly, the second input signal may be a time-based dynamic input signal. It follows that the one or more processors may be collectively configured to receive a continuously variable second input signal from the one or more vehicle sensors. For example, the one or more processors may be collectively configured to receive a second input signal having a data sample rate of 150,000 to 1.5million individual data points per second to build a live picture of the environment around a moving vehicle (in the case of high definition LiDAR based imaging) but it is understood that this may be as low as 5 times per second (in the case of vision based imaging). Accordingly, the one or more processors may be continuously provided with updated information to inform the determination of whether the desired human input indicated by the first input signal would result in the vehicle controller initiating a safe physical vehicle operation.

[0012] In an embodiment, the one or more processors may be collectively configured to output a continuously variable control signal to the vehicle controller. For example, the one or more processors may be collectively configured to output a control signal having a refresh / sample rate of 5 to 500 times per second (in the case of a Body Control Module (BCM)). Accordingly the control signal output to the vehicle controller may be updated in real time in dependence on the second input signal to ensure safe operation of the vehicle.

[0013] In an embodiment, the one or more processors may be collectively configured to arbitrate continuously between the first and second input signals, for example at a refresh / sample rate of 5 to 500 times per second. It follows that the one or more processors may be collectively configured to determine whether the desired human input indicated by the first input signal would result in the vehicle controller initiating a safe physical vehicle operation in dependence on dynamic information indicative of one or more measured parameters of the environment external to the vehicle provided in the second input signal. Accordingly, the one or more processors may be collectively configured to determine whether the desired human input indicated by the first input signal would result in the vehicle controller initiating a safe physical vehicle operation at a rate of 5 to 500 times per second.

[0014] In an embodiment, the first input signal may indicate a desired human input to be input to the vehicle controller for controlling a physical vehicle operation including any of vehicle speed, vehicle direction (i.e. steering), gear selection, headlight operation, windscreen wiper operation, wing mirror adjustment, door opening and closing, boot lid opening and closing, window opening and closing.

[0015] Optionally, the pre-programmed instruction(s) selected from the electronic memory device in dependence on the determination that the desired human input would not result in a safe physical vehicle operation may contain instructions that approximate the desired human input indicated in the first control signal. For example, the one or more processors may be collectively configured to, in dependence on the determination that the desired human input would not result in a safe physical vehicle operation, disregard the first input signal and select, from the electronic memory device, a pre-programmed instruction for initiating a physical vehicle operation that approximates the desired human input, and output, to the vehicle controller, a control signal comprising the selected pre-programmed instruction for initiating the physical vehicle operation that approximates the intention of a human operator. Accordingly the preprogrammed instruction(s) may be selected in dependence on the desired human input indicated by the first input signal. Notably, in such embodiments the one or more processors should be collectively configured to only select a pre-programmed instruction that would result in the vehicle controller initiating a safe physical vehicle operation, based at least in part on the second input signal. Accordingly, whilst the resultant physical vehicle operation may approximate that desired by the human operator, vehicle and operator safety is maintained because the control signal output to the vehicle controller only comprises instructions for maintaining or initiating a safe physical vehicle operation.

[0016] Optionally, the one or more processors may be collectively configured to determine whether the first input signal has been received by the one or more processors. Optionally, the one or more processors may be collectively configured to, in dependence on the determination that the first input signal has not been received, select, from the electronic memory device, a pre-programmed instruction for initiating a physical vehicle operation, and output, to the vehicle controller, the control signal comprising the selected preprogrammed instruction for initiating the physical vehicle operation. For example, the pre-programmed instruction may comprise an instruction for initiating an emergency stop manoeuvre, and the one or more processors may be collectively configured to output, to the vehicle controller, a control signal comprising an instruction for initiating an emergency stop manoeuvre. Accordingly, the control system may be configured to mitigate for system anomalies to ensure safe operation of the vehicle. Equally, the pre-programmed instruction may comprise an instruction for continuing an ongoing physical vehicle operation if the one or more processors determine, in dependence on the second input signal, that continuing the ongoing physical vehicle operation is the safest course of action. The one or more processors may therefore be collectively configured to output, to the vehicle controller, a control signal comprising an instruction for continuing an ongoing physical vehicle operation in dependence on the determination that the first input signal has not been received and in dependence on the second input signal.

[0017] Optionally, the one or more processors may be collectively configured to receive, from one or more operator sensors configured to measure one or more parameters of a human operator, a third input signal indicative of one or more measured parameters of the human operator. Optionally, the one or more processors may be collectively configured to determine, in dependence on the third input signal, whether the desired human input indicated by the first input signal indicates normal operation by the human operator. In such examples the one or more processors may be collectively configured to only output the control signal to the vehicle controller comprising the desired human input in dependence on the determination that the desired human input indicated by the first input signal indicates normal operation by the human operator. This further ensures that only safe vehicle operations are initiated. In particular, such a configuration help to ensure that accidental inputs from the auxiliary input device, for example due to ill health of the human operator, which are not truly indicative of the human operator’s intention, are not provided to the vehicle controller, and only desired human inputs indicating normal operation are output to the vehicle controller.

[0018] A determination of whether the desired human input indicated by the first input signal indicates normal operation by the human operator may be based on historic data collected by the one or more operator sensors. Additionally or alternatively, such a determination may be based on pre-programmed data indicating expected operator parameter measurements. Deviation of the or each measured parameter of the human operator when compared to historic data and / or pre-programmed data may indicate abnormal operation. Historic data and / or pre-programmed data may be stored in the electronic memory device and may be accessed by the one or more processors when determining whether the desired human input indicates normal operation.

[0019] Optionally, the one or more processors may be collectively configured to disregard the first input signal in dependence on the determination that the desired human input indicated by the first input signal indicates abnormal operation by the human operator. In such an example, the one or more processors may optionally be collectively configured to either output, to the vehicle controller, the control signal comprising instructions to continue an ongoing physical vehicle operation, or select, from the electronic memory device, a pre-programmed instruction for initiating a physical vehicle operation, and output, to the vehicle controller, the control signal comprising the selected pre-programmed instruction for initiating the physical vehicle operation. Accordingly, the one or more processors may be collectively configured to output instructions for performing a safe vehicle operation instead of the desired human input, if the third input signal indicates that the desired human input may not have been input as a result of normal operation by the human operator. This further increases safety when operating the vehicle using the control system.

[0020] It follows that in an embodiment, the control system may optionally comprise one or more operator sensors configured to measure one or more parameters of a human operator. The one or more operator sensors may include a heartrate monitor, a temperature sensor such as an infrared sensor, operator eye-line tracking apparatus, head nod sensor, electroencephalogram (EEG), operator iris scanning apparatus. Further, in an embodiment, the control system may comprise visual and / or audio feedback device(s), and the one or more processors may be configured to provide a visual and / or audio notification to the human operator if the first input signal is disregarded.

[0021] In an embodiment, the one or more processors may be collectively configured to, in dependence on the determination that the desired human input indicated by the first input signal indicates abnormal operation by the human operator, disregard the first input signal and select, from the electronic memory device, a pre-programmed instruction for maintaining the vehicle at a standstill, and output, to the vehicle controller, a control signal comprising the selected pre-programmed instruction. Accordingly, the one or more processors may be configured such that human-desired inputs requesting movement of the vehicle may be blocked, or not relayed further to the vehicle controller, in dependence on the determination that the desired human input indicated by the first input signal indicates abnormal operation.

[0022] Optionally, the one or more processors may be collectively configured to determine whether the third input signal has been received by the one or more processors. In such an example, the one or more processors may be collectively configured to, in dependence on the determination that the third input signal has not been received, select, from the electronic memory device, a pre-programmed instruction for initiating a physical vehicle operation, and output, to the vehicle controller, the control signal comprising the selected pre-programmed instruction for initiating a physical vehicle operation. For example, the pre-programmed instruction may comprise an instruction for initiating an emergency stop manoeuvre, and the one or mor processors may be collectively configured to output, to the vehicle controller, a control signal comprising an instruction for initiating an emergency stop manoeuvre. Accordingly, the control system may be configured to mitigate for system anomalies to ensure safe operation of the vehicle.

[0023] Optionally, the control system may comprise the auxiliary input device for receiving a desired human input to be input to the vehicle controller. For example, in an embodiment, a vehicle may have a primary input system for receiving human instructions in normal use, and the auxiliary input device and the control system described herein may provide an additional, alternative route for providing a desired human input to the vehicle controller.

[0024] Optionally, the auxiliary input device may be located inside a cabin of the vehicle and may be configured for receiving, directly from a human operator, the desired human input to be input to the vehicle controller. In such an example the control system may therefore facilitate safe use of the vehicle by an operator located within the vehicle. The auxiliary input device in such an example may be configured to send the first input signal to the one or more processors by wire. Accordingly such a configuration may further improve reliability.

[0025] Optionally, the auxiliary input device may be a handheld controller configured for receiving, directly from a human operator, physical inputs indicating desired human inputs for controlling physical vehicle operations including both speed control, such as velocity and / or rate of acceleration or deceleration, and direction control, such as steering angle and / or rate of change of steering angle, and sending, in the first input signal, the desired human input to the one or more processors. Such an auxiliary input device facilitates control of multiple physical vehicle operations using a single device. By way of further examples, the auxiliary input device may be configured to receive physical inputs indicating desired human inputs for controlling physical vehicle operations including gear selection, headlight operation, directional indicators operation, windscreen wiper operation, wing mirror adjustment, door opening and closing, boot lid opening and closing, window opening and closing and emergency hazard warning signal operation.

[0026] The handheld controller may be configured to facilitate control of the vehicle by a disabled operator. For example the handheld controller may enable ergonomic access to control inputs configured for receiving physical inputs from a disabled operator to indicate their desired human inputs for controlling physical vehicle operations. It should be appreciated that such control inputs configured for receiving physical inputs may not be accessible to a disabled person in a typical vehicle cabin. It follows that in an embodiment, the handheld controller may be a generic controller that is specifically configurable in dependence on the needs of the human operator. For example, the handheld controller may comprise generic buttons and / or switches which can be mapped on a bespoke basis for a human operator according to physical need or personal choice. Accordingly, the handheld controller may be reconfigurable for different human operators. For example, the handheld controller may be configured to receive, directly from a human operator, physical inputs indicating desired human inputs for controlling physical vehicle operations such as gear selection and headlight operation, and the same handheld controller (or same handheld controller design), may be reconfigurable to receive, directly from a different human operator, physical inputs indicating desired human inputs for controlling physical vehicle operations such as mirror adjustment and door opening and closing.

[0027] Optionally, the control system may comprise a remote control configured for receiving, directly from a human operator, the desired human input to be input to the vehicle controller. In such an example, the auxiliary input device is configured to receive, from the remote control, a wirelessly-transmitted signal comprising the desired human input and send, in the first input signal, the desired human input to the one or more processors. Accordingly, the auxiliary input device may be a remote control receiver in some examples. Use of a remote control to receive and subsequently send the desired human input to the auxiliary input device means that in some examples, the human operator may not necessarily be located within the vehicle. Optionally the control system may comprise a video camera and image transmission means configured to send image data to a human operator operating the remote control. The remote control may be configured for receiving, directly from a human operator, the desired human input to be input to the vehicle controller for controlling physical vehicle operations including both speed control and direction control. The remote control may also be configured for receiving the desired human input to be input to the vehicle controller for controlling physical vehicle operations including but not limited to gear selection, headlight operation, windscreen wiper operation, wing mirror adjustment, door opening and closing, boot lid opening and closing, window opening and closing.

[0028] The control system described herein is particularly advantageous for improving safety when operating the vehicle remotely because the arbitration between the first and second input signals may involve an assessment of factors not available to the remote human operator for evaluating whilst controlling the vehicle. The control system described herein may facilitate safe and effective remote control of the vehicle in various situations, including moving a vehicle around a workshop, manufacturing or storage facility, diplomatic or military use, commercial use such as freight movement, or when taking control of the vehicle remotely in an emergency situation, such as operator ill health. Optionally, the apparatus may comprise a separate power supply for each of the vehicle controller, the one or more processors, and the auxiliary input device. As such the vehicle controller, the one or more processors, and auxiliary input device may be powered independently. Accordingly, each of these components can operate irrespective of the power status of the other components. This adds an additional layer of redundancy to further improve vehicle safety using the control system described herein.

[0029] Optionally, the control system may comprise a plurality of vehicle sensors for measuring a plurality of parameters in an environment external to the vehicle. Optionally, the one or more processors may be collectively configured to define a virtual corridor for safe physical vehicle operation based on the second input signal received from the plurality of vehicle sensors. Determining whether the desired human input indicated by the first input signal would result in the vehicle controller initiating a safe physical vehicle operation may comprise determining, in dependence on the second input signal, whether the desired human input indicated by the first input signal would result in the vehicle controller initiating a safe physical vehicle operation which maintains the vehicle within the virtual corridor for safe vehicle operation. A control system configured in this manner affords the human operator a degree of freedom of movement within a defined range of safe operation. Accordingly this may improve the experience for the operator whilst ensuring safe operation of the vehicle. The virtual corridor for safe vehicle operation defined by the one of more processors may indicate an expected path of vehicle movement based on normal operation of the vehicle or pre-programmed expected operation of the vehicle.

[0030] In an embodiment, the plurality of vehicle sensors includes at least one LiDAR sensor. Additionally or alternatively, the plurality of vehicle sensors may include a vision sensor (i.e. a video camera feed), wheel slip sensor, road line and road sign sensor, noise vibration and harshness (NVH) sensor, radar. The second input signal may include data from a satellite feed, for example to provide a live bird’s eye view of the path ahead of the vehicle. Additionally or alternatively, the second input signal may include Al derived data supplementing the sensed data from other vehicle sensors.

[0031] Optionally, the vehicle controller may be configured to only receive control signals that are output from the one or more processors in dependence on the determination that the desired human input would or would not result in a safe physical vehicle operation. In other words, the vehicle controller may be configured to only receive input signals that are resultant of a determination involving at least the second input signal. In particular, the vehicle controller may be configured such that human-input instructions are only received by the vehicle controller in dependence on the determination that the desired human input would result in a safe physical vehicle operation. Configuring the control system in this manner ensures that human-input instructions provided to the vehicle controller are always based on a determination that the desired action is safe based on at least the second input signal, and the vehicle controller therefore doesn’t ever receive human inputs directly from a human-operator-controlled input device.

[0032] According to another aspect of the invention there is provided a system comprising the control system of any preceding claim and one or more actuators configured to receive instruction(s) to perform a physical vehicle operation which are output from the vehicle controller based on a control signal output to the vehicle controller from the one or more processors.

[0033] According to another aspect of the invention, there is provided a vehicle comprising the control system described herein.

[0034] According to another aspect of the invention, there is provided a method for controlling a vehicle. The method comprises receiving, from an auxiliary input device, a first input signal indicating a desired human input to be input to a vehicle controller, and receiving, from one or more vehicle sensors, a second input signal indicative of one or more measured parameters of an environment external to the vehicle. The method comprises determining, in dependence on the second input signal, whether the desired human input indicated by the first input signal would result in the vehicle controller initiating a safe physical vehicle operation. The method comprises, in dependence on the determination that the desired human input would result in a safe physical vehicle operation, outputting a control signal to the vehicle controller comprising the desired human input. The method comprises, in dependence on the determination that the desired human input would not result in a safe physical vehicle operation, disregarding the first input signal and either outputting, to the vehicle controller, a control signal comprising instructions to continue an ongoing physical vehicle operation, or selecting, from an electronic memory device comprising a plurality of pre-programmed instructions for initiating physical vehicle operations, a preprogrammed instruction for initiating a physical vehicle operation, and outputting, to the vehicle controller, a control signal comprising the selected pre-programmed instruction for initiating a physical vehicle operation.

[0035] In an embodiment, the method further comprises determining whether the first input signal has been received, and, in dependence on the determination that the first input signal has not been received, selecting, from the electronic memory device, a pre-programmed instruction for initiating a physical vehicle operation, and outputting, to the vehicle controller, the control signal comprising the selected pre-programmed instruction for initiating the physical vehicle operation.

[0036] In an embodiment, the method further comprises receiving, from one or more operator sensors configured for measuring one or more parameters of a human operator, a third input signal indicative of one or more measured parameters of the human operator. The method further comprises determining, in dependence on the third input signal, whether the desired human input indicated by the first input signal indicates normal operation by the human operator. Further, in such an embodiment, the control signal comprising the desired human input is only output to the vehicle controller in dependence on the determination that the desired human input indicated by the first input signal indicates normal operation by the human operator.

[0037] In an embodiment, the method further comprises, in dependence on the determination that the desired human input indicated by the first input signal indicates abnormal operation by the human operator, disregarding the first input signal. In such an embodiment the method further comprises either outputting, to the vehicle controller, the control signal comprising instructions to continue an ongoing physical vehicle operation, or selecting, from the electronic memory device, the pre-programmed instruction for initiating a physical vehicle operation, and outputting, to the vehicle controller, the control signal comprising the selected pre-programmed instruction for initiating the physical vehicle operation.

[0038] According to another aspect of the invention, there are provided computer readable instructions which, when executed by a computer, are arranged to perform a method as described herein.

[0039] 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.

[0040] BRIEF DESCRIPTION OF THE DRAWINGS

[0041] 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 a control system for controlling a vehicle;

[0042] Figure 2 shows a schematic representation of another embodiment of a control system for controlling a vehicle;

[0043] Figures 3a and 3b show a vehicle comprising a control system in accordance with an embodiment of the invention;

[0044] Figure 4 shows a plan view of a vehicle comprising a control system in accordance with an embodiment of the invention including a virtual corridor defined by one or more processors of the control system; and

[0045] Figure 5 shows a flow chart showing a method for controlling a vehicle in accordance with an embodiment of the invention.

[0046] DETAILED DESCRIPTION

[0047] A control system 100 in accordance with an embodiment of the present invention is described herein with reference to the accompanying Figure 1. As shown by way of example in Figures 3a, 3b and 4, at least part of the control system 100 may be installed in a vehicle 200.

[0048] With reference to Figure 1, there is illustrated a control system 100 for controlling a vehicle 200. The control system 100 comprises a vehicle controller 102 configured to control one or more physical vehicle operations, such as steering and / or accelerating the vehicle 200, for example. It should therefore be understood that various physical vehicle operations may be controlled “by wire” by signals 104 sent from the vehicle controller 102 to output components 106, such as actuators, that ultimately perform the respective physical vehicle operation. As described later in more detail, the control system 100 of the present invention is advantageously configured to improve safety when operating the vehicle 200 by evaluating a desired human input to be input to the vehicle controller 102 for effecting a physical vehicle operation against measured parameters of an environment external to the vehicle 200.

[0049] The control system 100 therefore includes one or more vehicle sensors 108 for measuring one or more parameters in an environment external to the vehicle 200. For example, the vehicle sensors 108 may include a LiDAR sensor for sensing distances to objects in the environment external to the vehicle 200. The control system 100 also includes an electronic memory device 110 comprising a plurality of pre-programmed instructions for initiating physical vehicle operations. As will be explained later in more detail, such pre-programmed instructions may include instructions for initiating physical vehicle operations such as steering, decelerating or stopping the vehicle 200.

[0050] Still with reference to Figure 1, the control system 100 includes one or more processors 112. The one or more processors 112 are collectively configured to receive a first input signal 114 from an auxiliary input device 116. Accordingly, the control system 100 may include an auxiliary input device 116. The vehicle 200 is configured to be operated by a human operator, and the first input signal 114 received by the one or more processors 112 therefore indicates a desired human input to be input to the vehicle controller 102. For example, the first input signal 114 may indicate that the human operator intends to accelerate the vehicle 200, i.e. the human operator wishes to effect a physical vehicle operation to accelerate the vehicle 200.

[0051] In addition to receiving the first input signal 114, the one or more processors 112 are also collectively configured to receive a second input signal 118 from the one or more vehicle sensors 108. The second input signal 118 is indicative of one or more measured parameters of the environment external to the vehicle 200. Accordingly, the one or more processors 112 are configured to receive both a human desired input and measured parameters of the external environment.

[0052] The one or more processors 112 are collectively configured to evaluate the desired human input in the first input signal 114 in view of the or each measured parameter of the external environment provided in the second input signal 118. Accordingly, the or each processor 112 is configured to determine, in dependence on the second input signal 118, whether the desired human input indicated by the first input signal 114 would result in the vehicle controller 102 initiating a safe physical vehicle operation. For example, the first input signal 114 may indicate that the human operator intends to accelerate the vehicle 200, and the one or more processors 112 may be configured to determine whether such a physical vehicle operation is safe in dependence on the second input signal 118 which may contain distance measurement data from a LiDAR sensor, for example.

[0053] In dependence on the determination that the desired human input would result in a safe physical vehicle operation, the one or more processors 112 of the control system 100 are collectively configured to output a control signal 120 to the vehicle controller 102 comprising the desired human input. As such, if the one or more processors 112 determine that the intended physical vehicle operation is safe, a control signal 120 in accordance with the desired human input is sent to the vehicle controller 102 to effect the requested physical vehicle operation.

[0054] Conversely, the one or more processors 112 of the control system 100 are collectively configured to disregard the first input signal 114 in dependence on the determination that the desired human input would not result in a safe physical vehicle operation. For example, if a desired human input to accelerate the vehicle 200 would result in the vehicle 200 moving too close to another vehicle or other object, based on the measured parameter in the second input signal 118, the processors 112 are configured to disregard the desired human input and not relay the desired human input to the vehicle controller 102. As such, the control system 100 is not simply configured to correct unsafe vehicle operations, like a lane-assist system would do if a vehicle drifted out of lane, but instead, the control system 100 is configured to evaluate the requested input and if the desired human input is determined to be unsafe, the requested input is not even sent to the vehicle controller 102 and there is therefore no unsafe physical vehicle operation in the first place.

[0055] The one or more processors 112 of the control system 100 are configured to output a control signal 120 which doesn’t comprise the desired human input to the vehicle controller 102 if the first input signal 114 is disregarded based on the second input signal 118. The processors 112 are configured to instead output a control signal 120 comprising instructions to continue an ongoing physical vehicle operation, or select a pre-programmed instruction for initiating a physical vehicle operation from the electronic memory device 110 and output a control signal 120 comprising the selected pre-programmed instruction. Accordingly, the processors are configured to only output control signals 120 to the vehicle controller 102 for initiating or continuing physical vehicle operations that are determined to be safe based on the measured parameters in the second input signal 118.

[0056] It follows that in some embodiments, the vehicle controller 102 is configured to only receive control signals 120 that are output from the one or more processors 112 in dependence on the determination that the desired human input would or would not result in a safe physical vehicle operation. That is to say, only control signals 120 that are output as a result of the determination by the one or more processors 112 of the control system 100 are sent to, and received by the vehicle controller 102. Accordingly the vehicle controller 102 may be configured to only output signals 104 for initiating safe physical vehicle operations to respective output components 106 such as actuators. In an embodiment, the processors 112 may also be configured to determine whether the first input signal 114 has been received by the one or more processors 112. Not receiving the first input signal 114 may be indicative of a communication error or other issue with the auxiliary input device 116 configured to send the first input signal 114 to the one or more processors 112. The processors 112 are therefore configured to select a pre-programmed instruction for initiating a physical vehicle operation from the electronic memory device 110, in dependence on the determination that the first input signal 114 has not been received, and output the control signal 120 comprising the selected pre-programmed instruction to the vehicle controller 102. For example, the selected pre-programmed instruction may be an instruction to perform a physical vehicle operation for a safety manoeuvre such as decelerating the vehicle 200, an emergency stop, or steering the vehicle 200 to a safe location.

[0057] As shown in Figure 1, the control system 100 may include a separate power supply 122, 124, 126 for each of the vehicle controller 102, the one or more processors 112, and the auxiliary input device 116. This means that the vehicle controller 102, the one or more processors 112, and the auxiliary input device 116 are all powered independently of one another. This adds an additional layer of redundancy to further improve reliability when operating the vehicle 200 using the control system 100 described herein.

[0058] Figure 2 shows another embodiment of the control system 100 for controlling a vehicle 200. The control system 100 shown by way of example in Figure 2 is substantially the same as the control system 100 described previously with reference to Figure 1, and equivalent features have equivalent reference numerals and will not be described again here for conciseness.

[0059] In addition to the features described previously with reference to Figure 1, the one or more processors 112 of the control system 100 in Figure 2 are additionally collectively configured to receive a third input signal 128. The one or more processors 112 are configured to receive the third input signal 128 from one or more operator sensors 130 that are respectively configured to measure one or more parameters of the human operator. Accordingly, the third input signal 128 is indicative of one or more measured parameters of the human operator. The or each operator sensor 130 may include a heartrate monitor, a temperature sensor, or eye-line tracking apparatus for example, each of which is configured to measure the respective parameter of the human operator.

[0060] Where the control system 100 includes one or more operator sensors 130, the processors 112 are collectively configured to determine whether the desired human input indicated by the first input signal 114 indicates normal operation by the human operator in dependence on the third input signal 128 received from the or each operator sensor 130. For example, a desired human input to maintain the vehicle 200 at a safe speed travelling forward, whilst the operator sensors 130 indicate that the operator has a normal heartrate and is actively observing the external environment in front of the vehicle 200 may result in a determination of normal operation. The processors 112 are configured to only output the control signal 120 comprising the desired human input to the vehicle controller 102 in dependence on the determination that the desired human input indicated by the first input signal 114 indicates normal operation by the human operator. In this manner, the control system 100 is again configured such that only control signals 120 instructing safe physical vehicle operations are output to the vehicle controller 102.

[0061] Referring still to Figure 2, the one or more processors 112 of the control system 100 are collectively configured to disregard the first input signal 114 in dependence on the determination that the desired human input indicated by the first input signal 114 indicates abnormal operation by the human operator. The processors 112 are configured to instead output a control signal 120 to the vehicle controller 102 which comprises either instructions to continue an ongoing physical vehicle operation, or a pre-programmed instruction for initiating a physical vehicle operation selected from the electronic memory device 110. For example, if the one or more processors 112 determine that the first input signal 114 is not indicative of normal operation and that the human operator may be experiencing ill health or a distraction for example, the first input signal 114 may be disregarded and an instruction for continuing an ongoing physical vehicle operation may be provided to the vehicle controller 102 instead to ensure safe operation of the vehicle 200.

[0062] For additional safety, the one or more processors 112 may be collectively configured to determine whether the third input signal 128 has been received by the one or more processors 112. In dependence on the determination that the third input signal 128 has not been received, the processors may be configured to select, from the electronic memory device 110, a pre-programmed instruction for initiating a physical vehicle operation, and output this to the vehicle controller 102. In this way, a safe physical vehicle operation can be implemented if the state of the human operator is not known.

[0063] Figures 3a and 3b illustrate a vehicle 200 according to embodiments of the present invention. The vehicle 200 comprises a control system 100 as illustrated in Figure 1 or Figure 2. As previously mentioned, the control system 100 may additionally comprise an auxiliary input device 116 for receiving the desired human input to be input to the vehicle controller 102. Examples of an auxiliary input device 116 will now be described with reference to Figures 3a and 3b.

[0064] Referring initially to Figure 3a, in an embodiment the auxiliary input device 116 may be located inside a cabin 202 of the vehicle 200. Accordingly, the auxiliary input device 116 may be configured for receiving inputs directly from a human operator located within the cabin 202. The human operator may therefore provide inputs indicating their desired input to be provided to the vehicle controller 102 directly to the auxiliary input device 116. An auxiliary input device 116 located within the cabin 202 may be configured for enabling ergonomic control of the vehicle 200 by a disabled person. For example, the auxiliary input device 116 may facilitate access to control inputs that may otherwise be out of reach for a disabled person without significant reengineering and remodelling of the interior of the cabin 202.

[0065] It follows that the auxiliary input device 116 may be a handheld controller in an embodiment of the invention. The handheld controller 116 may be configured for receiving physical inputs directly from the human operator to indicate their desired input for controlling physical vehicle operations. For example the controller 116 may be configured to directly receive physical human inputs for controlling physical vehicle operations including both speed control and direction control. The desired human input may be sent by the handheld controller 116, i.e. by the auxiliary input device 116, to the one or more processors 112 in the first input signal 114 as previously described.

[0066] Referring now to Figure 3b, in a different embodiment the auxiliary input device 116 may instead be configured to receive a wirelessly transmitted signal comprising the desired human input. For example, the auxiliary input device 116 may be a remote control receiver. It follows that the control system 100 may therefore include a remote control 132 configured to receive the desired human input directly from the human operator. Such an embodiment may facilitate control of the vehicle 200 by an operator that is remote from the vehicle 200.

[0067] In the same way as described previously with reference to other embodiments, in examples where the auxiliary input device 116 is configured to receive a wirelessly transmitted signal containing the human-desired input, the auxiliary input device 116 is again configured to send the desired human input to the one or more processors 112 in the first input signal 114. Figure 4 is a schematic plan view of a vehicle 200 illustrating an aspect of an embodiment of the invention. As shown in Figure 4, the control system 100 may include a plurality of vehicle sensors 108 which are configured for measuring a plurality of parameters in the environment external to the vehicle 200. The second input 118 received by the one or more processors 112 of the control system 100 may therefore include a plurality of measured parameters. In such an embodiment, the one or more processors 112 may be collectively configured to define a virtual corridor 134 for safe physical vehicle operation based on the second input signal 118 received from the plurality of vehicle 200 sensors. A virtual corridor 134 for safe physical vehicle operation is indicated schematically in Figure 4. In some examples the corridor 134 may be defined based on an expected path or route for the vehicle 200, any road markings or signposts, any sensed physical obstacles, hazards or surface topography, vehicle speed, dynamic capability (expected steering, breaking, etc. performance), or other road users.

[0068] With reference still to Figure 4, the determination as to whether the desired human input would result in a safe physical vehicle operation may therefore include an evaluation of the first input signal 114 against the virtual corridor 134. For example, the one or more processors 112 of the control system 100 may be collectively configured to determine, in dependence on the plurality of measured parameters in the second input signal 118, whether the desired human input indicated by the first input signal 114 would result in the vehicle controller 102 initiating a safe physical vehicle operation which maintains the vehicle 200 within the virtual corridor 134 for safe vehicle operation. This offers a certain degree of freedom for the human operator to instruct physical vehicle operations which move the vehicle 200 within the virtual corridor 134 whilst still maintaining safe operation of the vehicle 200.

[0069] Examples of a control system 100 according to embodiments of the invention have been described with reference to Figures 1 to 4. Reference is now made to Figure 5, which illustrates a method 300 according to an embodiment of the invention. The method 300 is a method for controlling a vehicle 200, such as the vehicle 200 illustrated in Figure 3a to 4. The method 300 may be performed by the control system 100 illustrated in Figure 1 or 2. In particular, the electronic memory device 110 of the control system 100 may comprise computer-readable instructions which, when executed by the one or more processors 112, perform the method 300 according to an embodiment of the invention. It follows that the method 300 may be performed by computer readable instructions that are executed by a computer.

[0070] As shown in Figure 5, a first step 302 of the method 300 includes receiving a first input signal 114 from an auxiliary input device 116. The first input signal 114 indicates a desired human input to be input to the vehicle controller 102 as previously described. The first step 302 also includes receiving a second input signal 118 from one or more vehicle sensors 108. The second input signal 118 is indicative of one or more measured parameters of an environment external to the vehicle 200.

[0071] In a subsequent step 304, the method 300 includes determining whether the desired human input indicated by the first input signal 114 would result in the vehicle controller 102 initiating a safe physical vehicle operation. This determination is reached in dependence on the second input signal 118, i.e. based on the one or more measured parameters of the environment external to the vehicle 200. The determination in this second step 304 informs the subsequent steps of the method 300. In dependence on the determination that the desired human input would result in a safe physical vehicle operation, the method 300 includes a step 306 of outputting a control signal 120 to the vehicle controller 102 comprising the desired human input. Conversely, in dependence on the determination that the desired human input would not result in a safe physical vehicle operation, the method 300 includes a step 308 of disregarding the first input signal 114. Following step 308 and having therefore disregarded the first input signal 114, the method 300 includes either outputting a control signal 120 comprising instructions to continue an ongoing physical vehicle operation to the vehicle controller 102, as indicated by step 310, or selecting a pre-programmed instruction from the memory device 110 and outputting a control signal 120 to the vehicle controller 102 comprising the selected pre-programmed instruction as indicated by step 312. As previously described, the electronic memory device 110 comprises a plurality of pre-programmed instructions for initiating physical vehicle operations. Accordingly, the instruction selected from the electronic memory and output to the vehicle controller 102 in the control signal 120 in step 312 is a pre-programmed instruction for initiating a physical vehicle operation. The instruction to continue an ongoing physical vehicle operation, or the selected pre-programmed instruction for initiating a physical vehicle operation, is received by the vehicle controller 102 in step 314. Accordingly, the method 300 may be implemented with the control system 100 described previously to improve safety when operating the vehicle 200.

[0072] It will be appreciated that various changes and modifications can be made to the present invention without departing from the scope of the present application.

Claims

CLAIMS1. A control system for controlling a vehicle, the control system comprising a vehicle controller configured to control one or more physical vehicle operations, one or more vehicle sensors for measuring one or more parameters in an environment external to the vehicle, an electronic memory device comprising a plurality of pre-programmed instructions for initiating physical vehicle operations, and one or more processors collectively configured to: receive, from an auxiliary input device, a first input signal indicating a desired human input to be input to the vehicle controller; receive, from the one or more vehicle sensors, a second input signal indicative of one or more measured parameters of the environment external to the vehicle; determine, in dependence on the second input signal, whether the desired human input indicated by the first input signal would result in the vehicle controller initiating a safe physical vehicle operation; in dependence on the determination that the desired human input would result in a safe physical vehicle operation, output a control signal to the vehicle controller comprising the desired human input; in dependence on the determination that the desired human input would not result in a safe physical vehicle operation, disregard the first input signal and either: a) output, to the vehicle controller, a control signal comprising instructions to continue an ongoing physical vehicle operation; or b) select, from the electronic memory device, a pre-programmed instruction for initiating a physical vehicle operation, and output, to the vehicle controller, a control signal comprising the selected pre-programmed instruction for initiating the physical vehicle operation.

2. The control system of Claim 1 , wherein the one or more processors are collectively configured to: determine whether the first input signal has been received by the one or more processors; and in dependence on the determination that the first input signal has not been received, select, from the electronic memory device, a pre-programmed instruction for initiating a physical vehicle operation, and output, to the vehicle controller, the control signal comprising the selected pre-programmed instruction for initiating the physical vehicle operation.

3. The control system of Claim 1 or Claim 2, wherein the one or more processors are collectively configured to: receive, from one or more operator sensors configured to measure one or more parameters of a human operator, a third input signal indicative of one or more measured parameters of the human operator; determine, in dependence on the third input signal, whether the desired human input indicated by the first input signal indicates normal operation by the human operator; and only output the control signal to the vehicle controller comprising the desired human input in dependence on the determination that the desired human input indicated by the first input signal indicates normal operation by the human operator.

4. The control system of Claim 3, wherein the one or more processors are collectively configured to: in dependence on the determination that the desired human input indicated by the first input signal indicates abnormal operation by the human operator, disregard the first input signal and either:a) output, to the vehicle controller, the control signal comprising instructions to continue an ongoing physical vehicle operation; or b) select, from the electronic memory device, a pre-programmed instruction for initiating a physical vehicle operation, and output, to the vehicle controller, the control signal comprising the selected pre-programmed instruction for initiating the physical vehicle operation.

5. The control system of Claim 3 or Claim 4, wherein the one or more processors are collectively configured to: determine whether the third input signal has been received by the one or more processors; and in dependence on the determination that the third input signal has not been received, select, from the electronic memory device, a pre-programmed instruction for initiating a physical vehicle operation, and output, to the vehicle controller, the control signal comprising the selected pre-programmed instruction for initiating a physical vehicle operation.

6. The control system of any preceding claim, further comprising the auxiliary input device for receiving a desired human input to be input to the vehicle controller.

7. The control system of Claim 6, wherein the auxiliary input device is located inside a cabin of the vehicle and is configured for receiving, directly from a human operator, the desired human input to be input to the vehicle controller.

8. The control system of Claim 7, wherein the auxiliary input device is a handheld controller configured for receiving, directly from a human operator, physical inputs indicating desired human inputs for controlling physical vehicle operations including both speed control and direction control, and sending, in the first input signal, the desired human input to the one or more processors.

9. The control system of Claim 6, further comprising a remote control configured for receiving, directly from a human operator, the desired human input to be input to the vehicle controller, wherein the auxiliary input device is configured to receive, from the remote control, a wirelessly-transmitted signal comprising the desired human input and send, in the first input signal, the desired human input to the one or more processors.

10. The control system of any of Claims 6 to 9, further comprising a separate power supply for each of the vehicle controller, the one or more processors, and the auxiliary input device such that the vehicle controller, the one or more processors, and auxiliary input device are powered independently.

11. The control system of any preceding claims, comprising a plurality of vehicle sensors for measuring a plurality of parameters in an environment external to the vehicle, wherein the one or more processors are collectively configured to define a virtual corridor for safe physical vehicle operation based on the second input signal received from the plurality of vehicle sensors, and wherein determining whether the desired human input indicated by the first input signal would result in the vehicle controller initiating a safe physical vehicle operation comprises determining, in dependence on the second input signal, whether the desired human input indicated by the first input signal would result in the vehicle controller initiating a safe physical vehicle operation which maintains the vehicle within the virtual corridor for safe vehicle operation.

12. The control system of any preceding claim, wherein the vehicle controller is configured to only receive control signals that are output from the one or more processors in dependence on the determination that the desired human input would or would not result in a safe physical vehicle operation.

13. A vehicle comprising the control system of any of claims 1 to 12.

14. A method for controlling a vehicle, the method comprising: receiving, from an auxiliary input device, a first input signal indicating a desired human input to be input to a vehicle controller; receive, from one or more vehicle sensors, a second input signal indicative of one or more measured parameters of an environment external to the vehicle; determining, in dependence on the second input signal, whether the desired human input indicated by the first input signal would result in the vehicle controller initiating a safe physical vehicle operation; and in dependence on the determination that the desired human input would result in a safe physical vehicle operation, outputting a control signal to the vehicle controller comprising the desired human input; in dependence on the determination that the desired human input would not result in a safe physical vehicle operation, disregarding the first input signal and either: a) outputting, to the vehicle controller, a control signal comprising instructions to continue an ongoing physical vehicle operation; or b) selecting, from an electronic memory device comprising a plurality of pre-programmed instructions for initiating physical vehicle operations, a pre-programmed instruction for initiating a physical vehicle operation, and outputting, to the vehicle controller, a control signal comprising the selected pre-programmed instruction for initiating a physical vehicle operation.

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

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