Apparatus and method for controlling vehicle movement

Abstract

To control movement of a vehicle, and particularly, control performance of a defined maneuver by the vehicle.SOLUTION: The present invention provides a controller, comprising: input means for receiving an environment signal indicative of a feature in the vicinity of a vehicle; output means for outputting a maneuver signal to cause a vehicle to perform a defined maneuver; and control means arranged to provide at least one mode for performing at least a portion of the defined maneuver. The mode is selectable from a plurality of modes including at least one mode corresponding to an occupant-in-vehicle mode and at least one mode corresponding to an occupant-out-of-vehicle mode. The mode is selectable in dependence upon the environment signal being indicative of a vehicle envelope suitable for the mode.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present disclosure relates to controlling the movement of a vehicle, and in particular, but not limited to, controlling the execution of a defined maneuver by the vehicle. Aspects of the invention relate to a controller, a system, a method, a vehicle, and computer software.

[0002] The present disclosure also relates to determining the orientation of the completion position of a vehicle, and in particular, but not limited to, determining the orientation of the defined maneuver completion position of a vehicle. Aspects of the invention relate to a controller, a system, a method, a vehicle, and computer software.

Background Art

[0003] Vehicles are known to perform defined maneuvers such as automatic or semi-autonomous parking maneuvers. The user typically commands the vehicle to identify possible defined maneuvers when the owner is ready, such as when the owner is searching for a parking location or looking at a parking location. The vehicle can be commanded to perform the maneuver remotely, for example via a mobile device that receives user input to command the maneuver.

[0004] The vehicle's environmental perception means, although not limited, is used to determine the positions of features near the vehicle, such as markings, walls, pillars, other vehicles, etc. Next, the vehicle can be instructed to move to a location where it is to be parked in relation to the features, such as via a mobile device or other input medium. For example, there may be cases where it is desired for the vehicle to move to a parking space surrounded by features. To prevent the vehicle from contacting an object, the environmental perception means determines the distance between the vehicle and the object, and an automatic parking maneuver is executed to cause the vehicle to maintain a separation distance from the object. For example, the vehicle can be reversed with respect to the feature until an appropriate separation distance is determined by the environmental perception means. If the space is large enough to receive the vehicle, the vehicle is parked in the center of the space, for example, placed in the center of a garage. When the vehicle reaches a complete parking position, the vehicle's switch is usually turned off with the parking brake engaged.

[0005] Access to or from the vehicle may be obstructed by features surrounding the parking space. For example, a wall adjacent to the parking space may prevent the vehicle door from opening, preventing or making it impossible to access through that door.

[0006] The driver's preference may be to keep the vehicle's steering wheel straight when parking, for example, to make it look organized or to prevent the wheels from protruding laterally. In other situations, it may be preferable or even necessary to restrain the wheels on a sloped terrain with any gradient.

[0007] The defined maneuvers are usually executed under various ambient conditions, regardless of the weather or lighting.

[0008] Access to the vehicle's space may be obstructed by features surrounding the parking space. For example, the parking space may be too narrow for the vehicle to maneuver in and out of the parking space with sufficient clearance, or may be too narrow to receive the vehicle as such (e.g., narrower than the maximum width of the vehicle).

[0009] The defined maneuvers can be executed on various terrains, such as various ground types or smoothness.

[0010] Occasionally, the driver prefers the vehicle to be parked properly and desires the exact parking position of the vehicle. In many cases, the driver prefers to execute the defined maneuvers quickly.

[0011] The vehicle can be commanded to execute maneuvers remotely, for example, via a mobile device that receives user input to command the maneuvers. Alternatively, the vehicle can be instructed to execute maneuvers together with a user inside the vehicle.

[0012] The execution of the maneuvers generally involves moving the vehicle from a starting position, such as outside a parking space, to a completion position, such as inside a parking space. When the vehicle reaches the complete parking position, the user can usually turn off the vehicle with the parking brake engaged.

[0013] When the vehicle completes the defined maneuvers, the user can control the vehicle, such as by driving manually. When the vehicle reaches the complete parking position, the user can usually turn off the vehicle with the parking brake engaged. SUMMARY OF THE INVENTION

[0014] An object of embodiments of the present invention is to at least mitigate one or more of the problems of the prior art.

[0015] As described in the appended claims, aspects and embodiments of the present invention provide a controller, a system, a method, a vehicle, and computer software.

[0016] The 1st technology According to one aspect of the present invention, there is provided a controller configured to operably provide at least one mode for executing a maneuver defined according to an environmental signal.

[0017] According to one aspect of the present invention, there is provided a controller comprising: input means for receiving an environmental signal indicating the position of one or more features near the vehicle; output means for outputting a maneuver signal for causing the vehicle to perform a defined maneuver; and control means configured to control the output means and configured to provide at least one mode for performing at least a part of the defined maneuver, the mode being selectable from a plurality of modes including at least one mode corresponding to an in-vehicle mode of an occupant and at least one mode corresponding to an out-of-vehicle mode of the occupant, and the mode being selectable according to an environmental signal indicating a vehicle envelope suitable for the mode. Advantageously, only the mode or modes for performing the defined maneuver appropriate for a particular vehicle envelope can be provided or implemented for the vehicle.

[0018] A controller as described above, wherein the input means can include an electrical input for receiving a signal, the output means can include an electrical output for outputting a signal, the control means can comprise one or more control devices such as an electronic processing device.

[0019] The defined maneuver can include a parking maneuver. The parking maneuver can include maneuvers during parking such as parking in a stationary position within a space. The parking maneuver can include a parking release maneuver of driving out of the space from a stationary position. The defined maneuver completion position can include a parking position.

[0020] The passenger in-vehicle mode may correspond to an environmental signal indicating that the vehicle envelope is suitable for receiving the vehicle and opening the vehicle opening member at the received vehicle position. The position of the received vehicle may correspond to a defined maneuver completion position. The passenger out-of-vehicle mode may correspond to an environmental signal indicating that the vehicle envelope is suitable for receiving the vehicle but not suitable for opening the vehicle opening member at the received vehicle position. The vehicle opening member may include at least one of a vehicle door, a vehicle roof, a vehicle boot or trunk, a vehicle bonnet or hood, a flap, etc. Advantageously, one or more of the provided modes may correspond such that when the use of a vehicle opening such as access is required or desired, one or more of the modes can ensure the proper use of one or more vehicle openings within each vehicle envelope. For example, if the defined maneuver is a parking maneuver and the defined maneuver completion position is such that the passenger is prevented or unable to get out of the vehicle, or is likely to be so, the passenger may be provided with the passenger out-of-vehicle mode. Advantageously, such measures can prevent or at least reduce the completion of the defined maneuver up to the defined maneuver completion position where access to or through the vehicle opening by the passenger is not desired.

[0021] The control means may be configured to enable a selection between the passenger in-vehicle mode and the passenger out-of-vehicle mode when the environmental signal indicates that the vehicle envelope is suitable for receiving the vehicle and opening the vehicle opening member at the received vehicle position. Advantageously, if multiple modes are appropriate, the user may be able to select a preferred mode.

[0022] When the environmental signal indicates that the vehicle opening member is not suitable for opening at the vehicle position where the vehicle envelope has been received, the control means may be configured not to permit the selection of the occupant-in-vehicle mode. Advantageously, by not permitting the selection of the occupant-in-vehicle mode for an inappropriate vehicle envelope, it is possible to prevent the completion of a defined maneuver to a position where the occupant cannot use or open the vehicle opening, for example, a position where the occupant may no longer be able to exit the vehicle through the opening.

[0023] The vehicle envelope may include a target position suitable for receiving the vehicle at a defined maneuver completion position. The vehicle envelope may include a defined maneuver completion position. The vehicle envelope can be determined according to one-dimensional characteristics and / or measurements and / or estimations. The vehicle envelope can be determined according to an environmental signal indicating a length such as the unobstructed length between features, and the unobstructed length is a length sufficient to receive the vehicle at the defined maneuver completion position. The vehicle envelope can be determined according to two-dimensional characteristics and / or measurements and / or estimations. For example, the vehicle envelope can be determined according to an environmental signal indicating a length such as between features, where along that length there are no obstacles for a specific width or spread perpendicular to that length. The specific width or spread can correspond to at least the width or spread of the vehicle, such as the vehicle width when the vehicle is parked and the vehicle opening member is closed. The specific width or spread can correspond to at least the length of the vehicle, such as the vehicle length when the vehicle is parked and in a closed configuration in a vertical or parking lot or fishbone-shaped diagonal parking position. The vehicle envelope can include at least one dimension of the parking area, and the received vehicle position can be a parking position. The vehicle envelope can correspond to a predefined parking space. The vehicle envelope can include a target length, area, or volume for receiving the vehicle at or above the defined maneuver completion position.

[0024] The control means can be configured to determine the available space. The control means can be configured to define at least one vehicle envelope within the available space, and the vehicle envelope is suitable for receiving the vehicle at the defined maneuver completion position. The control means can be configured to define at least one defined maneuver completion position of the vehicle within the available space. In at least some examples, the vehicle envelope can correspond to the available space.

[0025] The control means can be configured to define at least two vehicle envelopes within the available space, and each vehicle envelope includes individually defined maneuver completion positions that are offset within the available space.

[0026] The two vehicle envelopes can be non - overlapping. Alternatively, the two vehicle envelopes may overlap.

[0027] The two vehicle envelopes can be adjacent to each other and extend parallel to each other in their respective longitudinal directions. Alternatively, the two vehicle envelopes can extend along the same longitudinal axis, and at this time the first vehicle envelope is longitudinally displaced along the longitudinal axis from the second vehicle envelope. In yet another alternative, the vehicle envelopes can be arranged with non - parallel longitudinal axes, such as a first vehicle envelope having a longitudinal axis perpendicular to the longitudinal axis of the second vehicle envelope.

[0028] The defined maneuver completion position can include a central position within the available space. The defined maneuver completion position can include a central position within the vehicle envelope, such as a central longitudinal axis of the vehicle centrally arranged within the vehicle envelope (e.g., equidistant from each side). Alternatively, the defined maneuver completion position can include an offset position, for example, the vehicle (and the longitudinal central axis of the vehicle) is offset laterally (e.g., to the left or right of the vehicle envelope or the available space). Similarly, the axial mid - point of the vehicle can be arranged axially centrally within the available space and / or the vehicle envelope, or can be offset therein.

[0029] The controller can comprise second output means for outputting a mode signal indicating a plurality of selectable modes, and the mode for executing a defined maneuver can be selectable by the user from a plurality of selectable modes according to the mode signal. The second output means can include notification output means. Advantageously, the user can be notified about the availability of one or more modes, and if available, the user can select a preferred mode.

[0030] The controller can comprise second input means for receiving a request signal indicating a user request for selecting a mode when a plurality of modes are selectable. Advantageously, an explicit user selection of a mode can be achieved. The request signal can indicate a signal received, either wired or wirelessly, indicating a user request from the user's mobile device or the like. Advantageously, this can enable the vehicle to be effectively commanded from the user's mobile device, such as being remotely directed.

[0031] The control means can be configured not to provide selectable modes when the environmental signal indicates that the vehicle envelope is inappropriate for executing a defined maneuver. Advantageously, the selection of inappropriate modes can be prevented.

[0032] The control means can be configured to prevent the output of the maneuver signal from causing the vehicle to execute a defined maneuver when the environmental signal indicates that the vehicle envelope is inappropriate for receiving the vehicle. Advantageously, the execution of inappropriate modes can be prevented.

[0033] The second output means may be configured to provide a mode signal indicating that there is no selectable mode in response to the vehicle envelope being inappropriate for receiving the vehicle. Advantageously, the user may be made aware by notification that the vehicle envelope has been identified but is inappropriate for the execution of the defined maneuver. For example, this may be the case where the vehicle envelope is too small even in the out-of-vehicle mode of the defined maneuver execution.

[0034] The control means may be configured such that the selectable mode varies during the execution of the defined maneuver. Advantageously, this may enable the user to switch between modes as desired without canceling or aborting the defined maneuver. For example, when releasing the parking brake from a position where access to the vehicle opening is obstructed, the user may start the defined maneuver of releasing the parking brake executed in the out-of-vehicle mode and then switch the mode (e.g., after the occupant has entered the vehicle during the execution of the defined maneuver) to complete the defined maneuver in the in-vehicle mode.

[0035] The control means may be configured to ensure at least a minimum separation distance from the vehicle. The control means may be configured to provide at least a minimum separation between the vehicle and features near the vehicle. The separation may be provided when the vehicle is in an open configuration, such as when at least one vehicle opening is open. The minimum separation may be provided during the execution of the defined maneuver, such as throughout the defined maneuver, and / or before and / or after the start of the defined maneuver. For example, the at least minimum separation may be provided at the defined maneuver completion position.

[0036] The open position of the opening member may include the fully open position. The fully open position may correspond to the maximum open position of the opening member. The open opening position may include a partially open position. The partially open position may correspond to a stable open position. For example, the opening member can include a door having one or more biased open positions, and the partially open position is an intermediate biased open position between the fully open position and the closed position. In at least some examples, a single mode corresponding to the maximum open position of the opening member can be provided, whereby the opening member can also be optionally opened partially (e.g., according to the user's preference). In other examples, a single mode corresponding to the partially open position can be provided (e.g., whereby, if complete opening may be hindered, the user may be responsible for not fully opening the opening member). In yet another example, for each of the partially open state and the fully open state, a separate mode can be provided respectively.

[0037] According to one aspect, there is provided a system comprising a controller as described above configured to receive an environmental signal and output a steering signal, and environmental sensing means for determining the location of one or more features near the vehicle and outputting an environmental signal indicating the same. Advantageously, the system controls the provision of mode selectability.

[0038] The system may comprise actuator means for receiving a steering signal for causing the vehicle to perform a defined maneuver. Advantageously, the system controls the movement of the vehicle to perform the defined maneuver.

[0039] The system may comprise receiver means for receiving a signal indicating a user request for the movement of the vehicle and outputting a request signal in response thereto. The receiver means may be for receiving a wired and / or wireless signal indicating a user request from a mobile device. Advantageously, a user request transmitted from outside the vehicle can be received in order to enable mode selection at least some of the time while the occupant is outside.

[0040] The controller may be configured to control the provision of a mode to output means for performing a defined maneuver in response to the presence of an occupant within the vehicle. For example, the controller may be configured to receive an input indicating the presence of one or more occupants within the vehicle, for example, from at least one sensor (e.g., an input from an in-vehicle system such as a motion sensor, a weight sensor, an internal dedicated input means, etc.). The controller may be configured to receive an input indicating the location and / or status of one or more occupants, for example, via location detection of a latch (e.g., a seatbelt buckle), or a key fob, or driver status recognition. Advantageously, the provision of the mode can be automatically restricted according to whether the occupant is inside or outside the vehicle.

[0041] According to one aspect of the present invention, there is provided a method of controlling the movement of a vehicle to perform a defined maneuver, the method comprising receiving an environmental signal indicating the location of one or more features near the vehicle, and providing at least one mode for performing a defined maneuver in response to the environmental signal indicating a vehicle envelope suitable for the mode, the mode being selectable from a plurality of modes including at least one mode corresponding to an occupant-inside-vehicle mode and at least one mode corresponding to an occupant-outside-vehicle mode, and outputting a maneuver signal for causing the vehicle to perform at least a part of the defined maneuver within the selected mode.

[0042] The method may include classifying the vehicle envelope. The categories may include at least: being suitable for receiving the vehicle and opening the vehicle opening member at the received vehicle position, and being suitable for receiving the vehicle but not being suitable for opening the vehicle opening member at the received vehicle position. Other categories and / or other modes may be envisioned.

[0043] The in-vehicle mode may correspond to a category suitable for receiving the vehicle and opening the vehicle opening member at the received vehicle position. The out-of-vehicle mode may correspond to a category suitable for receiving the vehicle but not suitable for opening the vehicle opening member at the received vehicle position.

[0044] The method may include classifying the vehicle envelope as suitable for all passengers to be inside the vehicle; suitable for at least one passenger to be inside the vehicle; or suitable for no passengers to be inside the vehicle.

[0045] The defined maneuver portion may include one or more of the defined maneuver start, the defined maneuver completion, and the overall defined maneuver.

[0046] The method may include providing the user with the option to select a mode. Additionally, or alternatively, the method may include automatically selecting a default mode.

[0047] The 2nd technology According to one aspect of the present invention, a controller is provided that is configured to operably determine the orientation of a defined maneuver completion position of a vehicle.

[0048] According to one aspect of the present invention, a controller comprising environmental input means for receiving an environmental signal indicating the location of at least one feature near the vehicle, control means configured to determine the orientation of a defined maneuver completion position of the vehicle in response to the environmental signal, and output means for outputting a possible defined maneuver completion position signal in response to the determined orientation is provided. Advantageously, the defined maneuver can be performed with respect to a preferred orientation of the defined maneuver completion position.

[0049] A controller as described above, wherein The input means can include an electrical input for receiving a signal, The output means can include an electrical output for outputting a signal, The control means can comprise one or more control devices such as an electronic processing device.

[0050] The defined maneuvers can include a parking maneuver. The parking maneuver can include maneuvers during parking such as parking in a stationary position within a space. The parking maneuver can include maneuvers for releasing parking such as exiting the space from a stationary position. The defined maneuver completion position can include a parking position.

[0051] The controller can comprise notification output means for outputting a notification signal indicating a possible defined maneuver completion position signal.

[0052] The control means can be configured to determine the orientation of the defined maneuver completion position in response to an environmental signal indicating the orientation of at least one feature near the vehicle.

[0053] The control means can be configured to determine the orientation of the defined maneuver completion position so as to be aligned with at least one feature near the vehicle.

[0054] The control means can be configured to determine the orientation of the defined maneuver completion position so as to be parallel to at least one feature near the vehicle.

[0055] The control means can be configured to determine the orientation of the defined maneuver completion position so as to be perpendicular to at least one feature near the vehicle.

[0056] The orientation of at least one feature near the vehicle can include the orientation of at least one other vehicle near the vehicle.

[0057] The control means can be configured to determine the orientations of a plurality of possible defined maneuver completion positions of the vehicle in response to the environmental signal.

[0058] The control means may be configured to notify the vehicle user of the orientations of a plurality of possible defined maneuver completion positions.

[0059] The controller can comprise output means for outputting a maneuver signal for causing the vehicle to execute a defined maneuver to a defined maneuver completion position, where the control means is configured to control the output means to output the maneuver signal.

[0060] The controller can comprise request input means for receiving a request signal indicative of a signal received, either wired or wirelessly, indicative of a user request for the movement of the vehicle.

[0061] The control means may be configured to determine the orientation of the defined maneuver completion position according to the location of the vehicle.

[0062] The controller can comprise memory means for internally storing data, and the control means is configured to determine the orientation of the defined maneuver completion position according to the data. Advantageously, the controller can use historical data, such as that associated with one or more of a particular location, scenario, user, and / or pattern, to determine the orientation or default orientation.

[0063] The control means may be configured to determine a free space. The control means can be configured to define at least one vehicle envelope within the free space, the vehicle envelope being suitable for receiving the vehicle at the defined maneuver completion position. The control means may be configured to define at least one defined maneuver completion position of the vehicle within the free space.

[0064] The vehicle envelope may include a target position suitable for receiving the vehicle at a defined maneuver completion position. The vehicle envelope may include a defined maneuver completion position. The vehicle envelope can be determined according to one-dimensional characteristics and / or measurements and / or estimations. The vehicle envelope can be determined according to an environmental signal indicating a length such as the unobstructed length between features, and the unobstructed length is a length sufficient to receive the vehicle at the defined maneuver completion position. The vehicle envelope can be determined according to two-dimensional characteristics and / or measurements and / or estimations. For example, the vehicle envelope can be determined according to an environmental signal indicating a length such as between features, where along that length there are no obstacles for a particular width or spread perpendicular to that length. The particular width or spread can correspond to at least the width or spread of the vehicle, such as the vehicle width when the vehicle is parked and the vehicle opening member is closed. The particular width or spread can correspond to at least the length of the vehicle, such as the vehicle length when the vehicle is parked and in a closed configuration at a vertical or parking lot or fishbone-shaped diagonal parking position. The vehicle envelope can include at least one dimension of the parking area, and the defined maneuver completion position can be a parking position. The vehicle envelope can correspond to a pre-defined parking space. The vehicle envelope can include a target length, area, or volume for receiving the vehicle at or above the defined maneuver completion position.

[0065] The control means can be configured to define at least two vehicle envelopes within the available space, each vehicle envelope including an individually defined maneuver completion position offset within the available space.

[0066] The vehicle envelopes can be non-overlapping. Alternatively, the vehicle envelopes may overlap.

[0067] The vehicle envelopes can be adjacent to each other and extend in parallel in their respective longitudinal directions. Alternatively, the vehicle envelopes can extend along the same longitudinal axis, and the first vehicle envelope is longitudinally displaced along the longitudinal axis from the second vehicle envelope. In yet another alternative, the vehicle envelopes can be arranged with non-parallel longitudinal axes, such as a first vehicle envelope having a longitudinal axis perpendicular to the longitudinal axis of the second vehicle envelope.

[0068] The control means can be configured to determine the orientation according to the position of the vehicle occupants. Advantageously, the orientation, such as a front / rear or parallel / perpendicular orientation, can be adapted to match the position of the vehicle occupants, such as whether the vehicle occupants are located inside or outside the vehicle.

[0069] The controller can comprise memory means for internally storing data, and the control means can be configured to determine the orientation according to the data.

[0070] The control means can be configured to adapt the defined maneuver completion position and / or its orientation according to an environmental signal indicating a change in at least one feature near the vehicle. Advantageously, the defined maneuver can be adapted during execution in response to the detection of an actual change in a feature such as movement, and / or the discovery of a previously undetected parameter of a feature (e.g., a void or protrusion that was previously hidden or undetected).

[0071] The controller may comprise control means configured to determine an orientation according to at least a part of a defined manoeuvre execution mode. Advantageously, the orientation can be adapted to be appropriate for the mode. For example, the controller may be configured to adapt the orientation according to a mode which is an in-vehicle mode or an out-of-vehicle mode. The controller may comprise control means configured to adapt the orientation according to at least one of the following: ambient conditions near the vehicle (e.g. precipitation such as rain, temperature, light level, wind, etc.); terrain near the vehicle (e.g. road surface, off-road surface, smoothness of the road surface, etc.).

[0072] According to one aspect of the invention, there is provided a system comprising a controller as described above configured to output a possible defined manoeuvre completion position signal.

[0073] The system may comprise notification output means for notifying a vehicle user of a possible defined manoeuvre completion position.

[0074] The system may comprise environmental sensing means for determining the location of at least one feature near the vehicle and outputting an environmental signal.

[0075] The system may comprise receiver means for wirelessly receiving a signal indicating a user request from a mobile device and outputting a request signal accordingly.

[0076] The notification output means may be configured to output a notification signal for visual and / or audible notification indicating a possible defined manoeuvre completion position.

[0077] The system may comprise environmental sensing means for determining the location of at least one feature near the vehicle.

[0078] The system may comprise receiver means for receiving a signal indicating a user request and outputting a request signal accordingly.

[0079] When the control means is configured to output a steering signal, the system may comprise actuator means for receiving a steering signal for causing the vehicle to execute a defined steering.

[0080] According to one aspect of the present invention, a method for determining the orientation of a defined steering completion position of a vehicle, comprising: receiving an environmental signal indicating the location of at least one feature near the vehicle; determining, using control means, the orientation of the defined steering completion position of the vehicle in response to the environmental signal; and outputting a possible defined steering completion position signal in response to the determined orientation.

[0081] The method may include outputting a notification signal indicating a possible defined steering completion position signal.

[0082] The method may include determining, using control means, the orientation of the defined steering completion position in response to an environmental signal indicating the orientation of at least one feature near the vehicle.

[0083] The method may include determining the orientation of the defined steering completion position to be aligned with at least one feature near the vehicle.

[0084] At least one feature near the vehicle may include at least one other vehicle near the vehicle.

[0085] The method may include determining the orientations of a plurality of possible defined steering completion positions of the vehicle in response to the environmental signal and notifying the vehicle user of the orientations of the plurality of possible defined steering completion positions.

[0086] The method may include providing the user with the possibility of selecting an orientation, such as a selection from a plurality of possible defined steering completion positions.

[0087] The method may include determining the orientation of the defined steering completion position according to the location of the vehicle.

[0088] The method may include receiving a request signal indicative of a signal received, wired or wireless, indicative of a user request for the movement of a vehicle.

[0089] The method may include outputting a steering signal for causing the vehicle to perform a defined steering to a defined steering completion position, the output means being controlled by control means to output the steering signal.

[0090] The method may include storing data in memory means and determining a possible defined steering completion position according to the data.

[0091] The method may include detecting a free space according to an environmental signal.

[0092] The method may include determining at least one vehicle envelope within the free space according to at least one dimensional parameter of the free space derived from the environmental signal. The vehicle envelope may be suitable for receiving the vehicle at a defined steering completion position.

[0093] The method may include determining the vehicle envelope according to an environmental signal indicative of at least one additional parameter associated with the free space in addition to the dimensional parameter.

[0094] The method may include classifying the free space into one or more categories, the category corresponding to one or more of the following: The free space includes a vehicle envelope suitable for receiving the vehicle at a defined steering completion position. The free space includes a vehicle envelope suitable for receiving the vehicle at a defined steering completion position in the execution of a specific mode of a defined steering. The free space includes a vehicle envelope in a specific orientation. The free space includes a plurality of vehicle envelopes. The free space includes a single vehicle envelope. The empty space does not include the vehicle envelope.

[0095] The 3rd technology According to one aspect of the present invention, there is provided a controller configured to operably angularly offset a wheel at a defined maneuver completion position, particularly with respect to features near the vehicle.

[0096] According to one aspect of the present invention, there is provided a controller comprising: input means for receiving an environmental signal indicative of the location of one or more features near the vehicle; output means for outputting a maneuver signal for causing the vehicle to perform a defined maneuver to a completion position; and control means configured to control the output means in response to the environmental signal so as to angularly offset a wheel at the completion position with respect to a feature near the vehicle. Advantageously, the vehicle can be made to have an improved wheel configuration at the completion position, for example such that the vehicle has wheels suitably angled with respect to a feature near the vehicle.

[0097] A controller as described above, wherein the input means can include an electrical input for receiving a signal, the output means can include an electrical output for outputting a signal, the control means can comprise one or more control devices such as an electronic processing device.

[0098] The defined maneuver can include a parking maneuver. The parking maneuver can include maneuvers during parking such as parking in a stationary position within a space. The parking maneuver can include maneuvers for releasing parking such as exiting the space from a stationary position. The completion position can include a parking position.

[0099] The control means can be configured to control the output means so as to angularly offset a wheel at the completion position towards a feature near the vehicle. The wheel at the completion position can be angularly offset towards the feature such that the wheel contacts the feature if the vehicle rolls.

[0100] One or more features may include a curb. The control means may be configured to control the output means to angularly offset the wheel in the completed position towards the curb. Advantageously, this may prevent the wheel from rolling, or rolling more than desired (e.g., by applying the wheel against the curb to prevent further rolling of the vehicle), especially when the vehicle is on a slope, when the user does not apply the parking brake or releases the parking brake.

[0101] Angularly offsetting may include providing at least a minimum angle between the wheel and the longitudinal axis of the vehicle. Thus, angularly offsetting may include deviating the wheel from a forward straight track parallel to the longitudinal axis of the vehicle.

[0102] The control means may be configured to control the output means to angularly offset the wheel in the completed position relative to a feature near the vehicle at a predetermined offset angle. Advantageously, this may enable the vehicle to angularly offset the wheel by a sufficient angle, such as above a threshold angle.

[0103] The predetermined offset angle may correspond to the maximum wheel angle relative to the longitudinal axis of the vehicle, such as a "wheel lock" offset angle. The predetermined offset angle may be sufficient to allow the wheel to contact the feature under the weight of the vehicle propelling the vehicle.

[0104] The control means may be configured to control the output means such that when the defined maneuver is completed, the vehicle assumes a wheel configuration in which the wheels are restrained. Advantageously, in at least some examples, such control means can assist in ensuring compliance with requirements, such as parking regulations, that require the wheels to remain stationary during parking. The wheel configuration in which the wheels are made not to move may include, for example, angling one or more wheels towards the curb when going downhill and away from the curb (e.g., outwards towards the street) when going uphill, thereby diagonally blocking one or more wheels with respect to the curb.

[0105] The control means may be configured to control the output means such that the wheels in the completed position are angularly offset with respect to a feature near the vehicle according to the inclination. The control means may be configured to control the output means such that the wheels in the completed position are angularly offset with respect to a feature near the vehicle according to the direction of the inclination. The control means may be configured to control the output means such that the wheels in the completed position are angularly offset towards the feature in the downward or downhill direction. For example, the wheels in the completed position may be made to be angularly offset towards the feature in the forward direction of the vehicle when the vehicle is inclined downward or downhill in the forward direction of the vehicle. Additionally, or alternatively, the wheels in the completed position may be made to be angularly offset towards the feature in the reverse direction of the vehicle when the vehicle is inclined downward or downhill (e.g., uphill in the forward direction of the vehicle) in the reverse direction of the vehicle. The inclination may be that of the vehicle, particularly at the completed position, as may be indicated by an accelerometer, a gravity sensor, a vehicle suspension system, etc. The inclination may be that of the surface supporting the vehicle, such as the ground. The inclination may include a longitudinal inclination of the vehicle, such as along its longitudinal axis from front to rear. Advantageously, this can or may enable the curb to prevent the vehicle from rolling too much downhill or on a slope due to the weight of the vehicle when the user does not apply or releases the parking brake.

[0106] The controller may comprise second input means for receiving a request signal indicative of a received signal indicative of a user request. The request signal may indicate a signal received, either wired or wirelessly, indicative of a user request from a user's mobile device or the like. Advantageously, this may enable the vehicle to be effectively commanded from the user's mobile device, such as being remotely directed.

[0107] The controller may be configurable by a user or the like. In at least some examples, the controller may be configurable to apply an angular offset as a default setting at all defined steering completion positions or at least all stationary parking positions. The controller may be arranged to enable user adaptation. The user may be able to at least partially override, program, configure, or adjust the controller to change one or more of the following: the provision of the angular offset, the inclination threshold for providing the angular offset, the location or locations where the angular offset is provided, the direction of the angular offset, and the angle of the angular offset. The controller may be configured to manually override, program, or adjust, such as by adjusting the output of a steering signal. Additionally or alternatively, the controller may be configured to automatically or semi-automatically override, program, or adjust the output of the steering signal, such as by learning from user behavior, such as an input pattern, a geographical location, or repeated user behavior associated with one or more of user identification (if the vehicle is being used by multiple users non-simultaneously). For example, the controller may be configured not to angularly offset the wheels when the vehicle is placed in a particular location, such as a home or garage, where the user has previously overridden, canceled, or rejected a wheel angular offset. The controller may include self-learning, such as learning when and / or where to apply the angular offset.

[0108] The user can include the passengers. The user can include the driver of the vehicle. The user can be inside the vehicle. The user can be outside the vehicle, for example, for at least part of the execution of a defined maneuver. The vehicle can include one or more non-driver passengers. In at least some examples, one or more users and / or passengers can be located inside and / or outside the vehicle.

[0109] The control means can be configured to control the output means to angularly offset the wheels at the completion position as part of the execution of a defined maneuver. The control means can be configured to control the output means to configure the vehicle in the completion position. Advantageously, this enables the controller to ensure the angular offset of the wheels even if the vehicle reaches the completion position without the output means being controlled by the control means throughout all executions to reach the completion position.

[0110] The control means can be configured to control the output means to angularly offset the wheels while the vehicle is stationary, such as at the completion position. Advantageously, this enables the controller to control only part of the maneuver, such as after the user-controlled part of the maneuver.

[0111] The control means can be configured to determine a free space. The control means can be configured to define at least one vehicle envelope within the free space, and the vehicle envelope is suitable for receiving the vehicle at a defined maneuver completion position. The control means can be configured to define at least one defined maneuver completion position of the vehicle within the free space.

[0112] The vehicle envelope may include a target position suitable for receiving the vehicle at a defined maneuver completion position. The vehicle envelope may include a defined maneuver completion position. The vehicle envelope can be determined according to one-dimensional characteristics and / or measurements and / or estimations. The vehicle envelope can be determined according to an environmental signal indicating a length such as an unobstructed length between features, and the unobstructed length is a length sufficient to receive the vehicle at the defined maneuver completion position. The vehicle envelope can be determined according to two-dimensional characteristics and / or measurements and / or estimations. For example, the vehicle envelope can be determined according to an environmental signal indicating a length such as between features, where along that length there are no obstacles for a particular width or spread perpendicular to that length. The particular width or spread can correspond to at least the width or spread of the vehicle, such as the vehicle width when the vehicle is parked and the vehicle opening member is closed. The particular width or spread can correspond to at least the length of the vehicle, such as the vehicle length when the vehicle is parked and in a closed configuration at a vertical or parking lot or fishbone-shaped diagonal parking position. The vehicle envelope can include at least one dimension of the parking area, and the defined maneuver completion position can be a parking position. The vehicle envelope can correspond to a pre-defined parking space. The vehicle envelope can include a target length, area, or volume for receiving the vehicle at or above the defined maneuver completion position.

[0113] The control means can be configured to define at least two vehicle envelopes within the free space, and each vehicle envelope includes an individual completion position offset within the free space.

[0114] The two vehicle envelopes can be non-overlapping. Alternatively, the two vehicle envelopes may overlap.

[0115] The two vehicle envelopes can be adjacent to each other, parallel, and extend in their respective longitudinal directions. Alternatively, the two vehicle envelopes can extend along the same longitudinal axis, at which time the first vehicle envelope is longitudinally displaced along the longitudinal axis from the second vehicle envelope. In yet another alternative, the vehicle envelopes can be arranged with non-parallel longitudinal axes, such as a first vehicle envelope having a longitudinal axis perpendicular to the longitudinal axis of the second vehicle envelope.

[0116] According to one aspect of the present invention, there is provided a system comprising: a controller as described above configured to receive an environmental signal and output a steering signal; an environmental sensing means for determining the location of one or more features near the vehicle and outputting an environmental signal indicative thereof; and an actuator means for receiving a steering signal for causing the vehicle to perform a defined steering to a completion position while angularly offsetting the wheel at the completion position with respect to a feature near the vehicle. Advantageously, the wheel can be angularly offset autonomously with respect to the environmental signal. The environmental sensing means can be one or more environmental sensing devices.

[0117] The wheel can include a main wheel. The angularly offset wheel can be a steerable wheel, such as for changing the direction of the vehicle. The wheel can be steerable by a handle. The wheel can include a front wheel. The wheel can include a rear wheel. A plurality of wheels, such as one or more pairs of wheels, can be angularly offset. The angular offset can include angularly offsetting the front and / or rear wheels of a vehicle having rear-wheel steering.

[0118] The controller may be configured to provide a display of the angular offset. The display may include a visual display. The display may include the presence and / or magnitude and / or direction of the angular offset. The display may be provided externally of the vehicle and / or individually, such as via a mobile device. The display may be provided within the vehicle. The controller may be configured to control an output means to rotate the steering wheel rotationally offset with respect to its neutral position, indicating to the user that the wheels are angularly offset. In particular, the steering wheel may have rotational or positional similarities or symmetries, such that the steering wheel may be or may appear to be in its neutral position when the wheels are not in their corresponding neutral wheel positions. The neutral position or positions of the steering wheel and / or the wheels may correspond to a straight-ahead position of the wheels, such as when the wheels are parallel to the longitudinal axis of the vehicle. Angularly offsetting the wheels may include angling the wheels away from their neutral positions. Advantageously, a rotationally offset steering wheel can indicate to the user that the wheels are angularly offset and, optionally, the direction in which the wheels are angularly offset. In other examples, the position of the steering wheel may not indicate the angular offset of one or more wheels, such as when the wheels are steered by steer-by-wire or the like.

[0119] The system may comprise receiver means for wirelessly receiving a signal indicative of a user request for vehicle movement from a mobile device and outputting a request signal in response thereto. Additionally or alternatively, the receiver means may be for receiving a signal from the mobile device by wire.

[0120] The control means may be configured to control the output means according to the location of the vehicle so as to selectively angularly offset the wheel at the completion position with respect to a feature near the vehicle. The control means may be configured to determine whether the wheel needs to be angularly offset according to the location. The control means may be configured to determine the direction of the angular offset, such as the rotational direction of the wheel, according to the position. The control means may be configured to determine the offset angle according to the location. The location may be indicated by a navigation system such as a satellite navigation system. The location may be associated with geofencing. The location may be indicated by data stored in the memory. The control means may be configured to determine the inclination of the vehicle and / or the ground according to the location. Additionally or alternatively, the control means may be configured to determine the inclination of the vehicle and / or the ground according to an input from a vehicle sensor such as an accelerometer. Additionally or alternatively, the control means may be configured to determine the inclination of the vehicle and / or the ground according to an environmental signal.

[0121] According to one aspect of the present invention, there is provided a method of controlling the movement of a vehicle to perform a defined maneuver, the method comprising receiving an environmental signal indicating the location of one or more features near the vehicle, and controlling an output means according to the environmental signal so as to angularly offset a wheel with respect to a feature near the vehicle at the completion position of the defined maneuver.

[0122] The one or more features may include a curb, and the method may include angularly offsetting the wheel towards the curb at the completion position of the defined maneuver.

[0123] The method may include receiving a signal indicating a user request to perform a defined maneuver from a mobile device.

[0124] The method may include determining the location of the one or more features using environmental sensing means.

[0125] The 4th technology According to one aspect of the present invention, there is provided a controller configured to operably cause at least a part of a defined maneuver to be executed on a vehicle according to ambient conditions.

[0126] According to one aspect of the present invention, there is provided a controller comprising: input means for receiving an ambient condition signal indicating ambient conditions near the vehicle; output means for outputting a maneuver signal for causing a defined maneuver to be executed on the vehicle; and control means configured to control the output means so as to cause at least a part of the defined maneuver to be executed on the vehicle according to the ambient condition signal. Advantageously, it is possible to adapt the execution of the defined maneuver to the vehicle so as to conform to the ambient conditions.

[0127] A controller as described above, wherein the input means can include an electrical input for receiving a signal, the output means can include an electrical output for outputting a signal, the control means can comprise one or more control devices such as an electronic processing device.

[0128] The defined maneuver can include a parking maneuver. The parking maneuver can include maneuvers during parking such as parking in a stationary position within a space. The parking maneuver can include maneuvers for releasing parking such as exiting the space from a stationary position. The defined maneuver completion position can include a parking position.

[0129] The control means can be configured to control the output means so as to cause at least a part of the defined maneuver to be executed on the vehicle according to a vehicle movement control profile determined according to the ambient condition signal. Advantageously, the defined maneuver can be caused to be executed on the vehicle in a controlled manner appropriate to the ambient conditions.

[0130] The vehicle movement control profile can include a speed parameter. The speed parameter can indicate a primary speed parameter. Advantageously, the defined maneuver can be caused to be executed on the vehicle at a vehicle speed appropriate to the ambient conditions.

[0131] The control means may be configured to select a vehicle movement control profile according to the classification of ambient conditions. Advantageously, the vehicle can select, such as by automatically selecting parameters for the execution of a defined maneuver related to a given category of one or more ambient conditions.

[0132] The speed parameter may indicate the acceleration of the vehicle. Advantageously, the vehicle can be made to execute a defined maneuver with appropriate acceleration so as to execute the defined maneuver efficiently and / or without excessive acceleration of the vehicle or the user or its contents.

[0133] The speed parameter may indicate the jerk of the vehicle. Advantageously, the vehicle can be made to execute a defined maneuver with an appropriate rate of change of acceleration, which may be physically and / or psychologically appropriate for the user.

[0134] The speed parameter may include a maximum speed parameter. Advantageously, the vehicle can be made to execute a defined maneuver at or within the maximum speed, acceleration, and / or jerk. Thereby, the defined maneuver is executed efficiently and / or physically and / or psychologically appropriately for the user.

[0135] The maximum speed parameter of the vehicle movement control profile corresponding to the first ambient condition may be smaller than the maximum speed parameter of the vehicle movement control profile corresponding to the second ambient condition. Advantageously, the maximum speed parameter can be varied to adapt to changes in the ambient conditions.

[0136] The vehicle movement control profile may be according to the terrain near the vehicle. Advantageously, the vehicle can be adapted to execute a defined maneuver adapted to the terrain.

[0137] The control means may be configured to select a vehicle movement control profile according to the classification of the terrain. Advantageously, the vehicle can select, such as by automatically selecting parameters for the execution of defined maneuvers related to a given category of terrain.

[0138] The terrain can be a surface. The surface can include a ground such as a load-bearing surface (e.g., vehicle support). The surface can include a drivable surface, such as for receiving at least one wheel thereon. The surface can include a substrate.

[0139] The terrain can include one or more of road terrain, off-road terrain, bumpy terrain, smooth terrain, slippery terrain, flat terrain, and one or more materials. The terrain can be classified according to one or more parameters corresponding to one or more of the following: degree of bumpiness, smoothness, roughness, grip, slip, friction, one or more gradients, one or more inclinations, one or more materials. The one or more parameters can include magnitude and / or direction.

[0140] The ambient conditions can include one or more of surface temperature such as temperature, air temperature, road temperature, precipitation such as rain, snow, hail, moisture, humidity, fog, haze, particles such as airborne particles, light level, wind, wind speed, and wind direction. The categories for classifying one or more ambient conditions can include categories corresponding to the type of one or more ambient conditions. For example, the categories can include: hot, warm, cold, rainy, snowy, dry, rainy, humid, foggy, hazy, dark, bright, windy, etc. In at least some examples, multiple categories corresponding to each ambient condition parameter can be provided. For example, some categories such as "hot wind", "warm wind", "cold air", "freezing air", "hot road", "warm road", "cold road", "frozen road" can be provided for temperature. It will also be understood that one or more ambient conditions can be classified into multiple categories simultaneously. For example, one or more ambient conditions can be classified as "warm, wet, windy, dark". One or more ambient conditions can include multiple such categories or parameters.

[0141] The controller may comprise second input means for receiving a request signal indicative of a received signal indicative of a user request. The request signal may indicate a signal received, either wired or wirelessly, indicative of a user request from a user's mobile device or the like. Advantageously, this may enable the vehicle to be effectively commanded from the user's mobile device, such as remotely commanded by a user outside the vehicle.

[0142] The user may include an occupant. The user may include the driver of the vehicle. The user may be inside the vehicle. The user may be outside the vehicle, for example, for at least part of the execution of a defined maneuver. The vehicle may include one or more non-driver occupants. In at least some examples, one or more users and / or occupants may be located inside and / or outside the vehicle.

[0143] The control means may be configured to determine a free space. The control means may be configured to define at least one vehicle envelope within the free space, the vehicle envelope being suitable for receiving the vehicle at a defined maneuver completion position. The control means may be configured to define at least one defined maneuver completion position of the vehicle within the free space.

[0144] The vehicle envelope may include a target position suitable for receiving the vehicle at a defined maneuver completion position. The vehicle envelope may include a defined maneuver completion position. The vehicle envelope can be determined according to one-dimensional characteristics and / or measurements and / or estimations. The vehicle envelope can be determined according to an environmental signal indicating a length such as an unobstructed length between features, and the unobstructed length is a length sufficient to receive the vehicle at a defined maneuver completion position. The vehicle envelope can be determined according to two-dimensional characteristics and / or measurements and / or estimations. For example, the vehicle envelope can be determined according to an environmental signal indicating a length such as between features, where along that length there are no obstacles in a particular width or spread perpendicular to that length. The particular width or spread can correspond to at least the width or spread of the vehicle, such as the vehicle width when the vehicle is parked and the vehicle opening member is closed. The particular width or spread can correspond to at least the length of the vehicle, such as the vehicle length when the vehicle is parked and in a closed configuration at a vertical or parking lot or fishbone-shaped diagonal parking position. The vehicle envelope can include at least one dimension of the parking area, and the defined maneuver completion position can be a parking position. The vehicle envelope can correspond to a pre-defined parking space. The vehicle envelope can include a target length, area, or volume for receiving the vehicle at or above the defined maneuver completion position.

[0145] The control means can be configured to define at least two vehicle envelopes within the available space, each vehicle envelope including an individually defined maneuver completion position offset within the available space.

[0146] The two vehicle envelopes can be non-overlapping. Alternatively, the two vehicle envelopes may overlap.

[0147] The two vehicle envelopes can be adjacent to each other, parallel, and extend in their respective longitudinal directions. Alternatively, the two vehicle envelopes can extend along the same longitudinal axis, at which time the first vehicle envelope is longitudinally displaced along the longitudinal axis from the second vehicle envelope. In yet another alternative, the vehicle envelopes can be arranged with non-parallel longitudinal axes, such as a first vehicle envelope having a longitudinal axis perpendicular to the longitudinal axis of the second vehicle envelope.

[0148] According to one aspect of the present invention, there is provided a system comprising a controller as described above configured to receive ambient condition signals and output steering signals, and actuator means for receiving steering signals for causing a defined steering to be executed on a vehicle in accordance with ambient conditions near the vehicle.

[0149] The system may comprise ambient condition sensing means for determining one or more ambient conditions near the vehicle and outputting an ambient condition signal indicative thereof.

[0150] The system may comprise environment sensing means for determining the location of one or more features near the vehicle and outputting an environment signal indicative thereof.

[0151] The system may comprise a controller configured to control the output means to cause at least a part of the defined steering to be executed on the vehicle in accordance with a determined vehicle movement control profile in response to the ambient condition signal.

[0152] The system may comprise a controller configured to select a vehicle movement control profile according to one or more features.

[0153] The system may comprise a controller configured to select a vehicle movement control profile according to the location of the vehicle.

[0154] The system may include a controller configured to select a vehicle movement control profile for performing a defined maneuver according to the driving mode of the vehicle. The driving mode of the vehicle may include one or more of "off-road", "sports", "normal", "race", "comfort", "personal", "economic", etc. The driving mode may correspond to vehicle parameters such as ride comfort settings.

[0155] The system may include a controller configured to select a vehicle movement control profile for performing a defined maneuver according to the presence of an occupant in the vehicle.

[0156] The system may include receiver means for receiving a signal indicating a user request for the movement of the vehicle and outputting a request signal accordingly. The receiver means may be for wirelessly receiving a signal from a mobile device.

[0157] The system may include a controller configured to receive a terrain signal indicating at least one terrain near the vehicle. The controller may be configured to select a vehicle movement control profile for performing a defined maneuver according to the terrain signal.

[0158] The system may include terrain sensing means for determining the terrain near the vehicle and outputting a terrain signal indicating the same.

[0159] According to one aspect of the present invention, a method for controlling the movement of a vehicle to perform a defined maneuver, the method including receiving a surrounding condition signal indicating surrounding conditions near the vehicle, and controlling output means according to the surrounding condition signal such that at least a part of the defined maneuver is performed according to the surrounding conditions near the vehicle.

[0160] The method may include determining the surrounding conditions using surrounding condition sensing means.

[0161] The method may include controlling an output means in response to an ambient condition signal such that at least a part of a defined maneuver is executed according to a vehicle movement control profile that depends on the ambient conditions near the vehicle.

[0162] The method may include selecting a vehicle movement control profile according to the driving mode of the vehicle.

[0163] The method may include selecting a vehicle movement control profile according to the presence of an occupant in the vehicle.

[0164] The method may include determining the terrain near the vehicle and selecting a vehicle movement control profile according to the terrain.

[0165] The method may include using environmental sensing means to determine the location of one or more features near the vehicle. The method may include selecting a vehicle movement control profile according to the one or more features.

[0166] The method may include receiving from a mobile device a signal indicating a user request to execute a defined maneuver.

[0167] The 5th technology According to one aspect of the invention, a controller is provided that is arranged to operably change the position of a movable protrusion of a vehicle in response to an environmental signal during the execution of a defined maneuver.

[0168] According to one aspect of the invention, a controller is provided that includes input means for receiving an environmental signal indicating the location of one or more features near the vehicle, output means for outputting a maneuver signal for causing the vehicle to execute a defined maneuver, and control means configured to control the output means so as to cause the vehicle to execute the defined maneuver, the control means being configured to control the output means to change the position of a movable protrusion of the vehicle during the defined maneuver in response to the environmental signal. Advantageously, the position of the movable protrusion can be changed in the vehicle to adapt to the environment.

[0169] A controller as described above, wherein, The input means can include an electrical input for receiving a signal, The output means can include an electrical output for outputting a signal, The control means can comprise one or more control devices such as an electronic processing device.

[0170] The defined maneuvers can include a parking maneuver. The parking maneuver can include maneuvers during parking such as parking in a stationary position within a space. The parking maneuver can include maneuvers for releasing parking such as exiting the space from a stationary position. The defined maneuver completion position can include a parking position.

[0171] The input means can be configured to receive an environmental signal from environmental sensing means associated with a movable protrusion of the vehicle. Advantageously, at least a part of the environmental sensing means associated with the movable protrusion can be present, such as being connected to or within the movable protrusion.

[0172] The controller can comprise memory means for internally storing data. The memory means can be configured to store data received via the input means before changing the position of the movable protrusion of the vehicle. The memory means can be configured to store data received before and / or during and / or after the execution of a defined maneuver. Advantageously, the controller can be able to store data such as environmental data for subsequent use.

[0173] The control means can be configured to control the output means according to the data stored in the memory means. Advantageously, the control means can be able to control the output means using data such as previously stored data about the environment, for example, when data or such data cannot be obtained from the input means.

[0174] The control means may be configured to control the output means to change the movable protrusion of the vehicle during a defined maneuver according to data stored in the memory means. The control means may use the stored data after or when it becomes impossible to obtain data for controlling the position of the movable protrusion, such as when the environment sensing means is reconfigured or relocated (for example, when the environment sensing means is associated with the movable protrusion).

[0175] The control means may be configured to control the output means to reconfigure the movable protrusion of the vehicle from the extended position of the movable protrusion of the vehicle to the folded position of the movable protrusion of the vehicle during a defined maneuver of parking. Advantageously, the control means can cause the vehicle to assume a specific configuration (for example, smaller or narrower) during a defined maneuver of parking.

[0176] The control means may be configured to control the output means to change the position of the movable protrusion of the vehicle from the folded position of the movable protrusion of the vehicle to the extended position of the movable protrusion of the vehicle during a defined maneuver of unparking. Advantageously, the control means can cause the vehicle to assume another specific configuration (for example, having a deployed, fully deployed, or activated movable protrusion) during a defined maneuver of unparking, thereby putting the movable protrusion in a normal driving use configuration (for example, having a deployed, fully deployed, or activated movable protrusion) to enable the completion of the defined maneuver and / or subsequent execution of the vehicle.

[0177] The control means may be configured to control the output means to change the position of the movable protrusion of the vehicle during a defined maneuver according to an environment signal indicating a feature such as a proximal feature of the vehicle or the movable protrusion, particularly within a proximal location of a predicted or anticipated vehicle trajectory, which is particularly of the movable protrusion. Advantageously, the position of the movable protrusion can be changed to correspond to or assist the future path or trajectory of the vehicle.

[0178] The controller may comprise second input means for receiving a request signal indicative of a received signal indicative of a user request. The request signal may indicate a signal received, wired or wireless, indicative of a user request from a user's mobile device or the like. Advantageously, this may enable the vehicle to be effectively commanded from the user's mobile device, such as remotely instructed.

[0179] The user may include an occupant. The user may include the driver of the vehicle. The user may be inside the vehicle. The user may be outside the vehicle, for example for at least part of the execution of a defined manoeuvre. The vehicle may include one or more non-driver occupants. In at least some examples, one or more users and / or occupants may be located inside and / or outside the vehicle.

[0180] The movable protrusions may include one or more of a vehicle mirror such as a side mirror, vehicle image sensing means such as a camera, a lidar, an ultrasonic sensor, etc. The extended position of the movable protrusions may include the operating configuration of the movable protrusions. The folded position of the movable protrusions may include the non-operating configuration of the movable protrusions.

[0181] The control means may be configured to determine a free space. The control means may be configured to define at least one vehicle envelope within the free space, the vehicle envelope being suitable for receiving the vehicle at a defined manoeuvre completion position. The control means may be configured to define at least one defined manoeuvre completion position of the vehicle within the free space.

[0182] The vehicle envelope may include a target position suitable for receiving the vehicle at a defined maneuver completion position. The vehicle envelope may include a defined maneuver completion position. The vehicle envelope can be determined according to one-dimensional characteristics and / or measurements and / or estimations. The vehicle envelope can be determined according to an environmental signal indicating a length such as an unobstructed length between features, and the unobstructed length is a length sufficient to receive the vehicle at the defined maneuver completion position. The vehicle envelope can be determined according to two-dimensional characteristics and / or measurements and / or estimations. For example, the vehicle envelope can be determined according to an environmental signal indicating a length such as between features, where along that length there are no obstacles for a particular width or spread perpendicular to that length. The particular width or spread can correspond to at least the width or spread of the vehicle, such as the vehicle width when the vehicle is parked and the vehicle opening member is closed. The particular width or spread can correspond to at least the length of the vehicle, such as the vehicle length when the vehicle is parked and in a closed configuration at a vertical or parking lot or fishbone-shaped diagonal parking position. The vehicle envelope can include at least one dimension of the parking area, and the received vehicle position can be a parking position. The vehicle envelope can correspond to a pre-defined parking space. The vehicle envelope can include a target length, area, or volume for receiving the vehicle at or above the defined maneuver completion position.

[0183] The control means can be configured to define at least two vehicle envelopes within the empty space, and each vehicle envelope includes an individually defined maneuver completion position offset within the empty space.

[0184] The vehicle envelopes can be non-overlapping. Alternatively, the vehicle envelopes may overlap.

[0185] The vehicle envelopes can be adjacent to each other and extend in parallel in their respective longitudinal directions. Alternatively, the vehicle envelopes can extend along the same longitudinal axis, and the first vehicle envelope is longitudinally displaced along the longitudinal axis from the second vehicle envelope. In yet another alternative, the vehicle envelopes can be arranged with non-parallel longitudinal axes, such as a first vehicle envelope having a longitudinal axis perpendicular to the longitudinal axis of the second vehicle envelope.

[0186] According to one aspect of the present invention, there is provided a system comprising a controller as described above configured to receive environmental signals and output steering signals, and environmental sensing means for determining the position of one or more features near the vehicle and outputting environmental signals indicative thereof.

[0187] The system may comprise actuator means for receiving steering signals for causing the vehicle to execute a defined maneuver.

[0188] The system may comprise receiver means for receiving a signal indicative of a user request for the movement of the vehicle and outputting a request signal in response thereto. The receiver means may be for wirelessly receiving signals from a mobile user device indicative of a user request.

[0189] The controller may be configured to control output means for executing a defined maneuver in response to the presence of an occupant within the vehicle.

[0190] According to one aspect of the present invention, there is provided a method of controlling the movement of a vehicle to execute a defined maneuver, the method comprising receiving an environmental signal indicative of the location of one or more features near the vehicle, and controlling output means in response to the environmental signal to position a movable protrusion of the vehicle in response to the environmental signal during the defined maneuver.

[0191] The method may include changing the position of a movable protrusion of a vehicle mirror with respect to a feature near the vehicle.

[0192] The method may include determining the location of one or more features using environmental sensing means and outputting an environmental signal from the environmental sensing means.

[0193] The environmental sensing means may be associated with a movable protrusion of the vehicle.

[0194] The method may include storing data received from the environmental sensing means before changing the position or reconfiguration of the movable protrusion.

[0195] The method may include controlling an output means according to the stored data.

[0196] The method may include controlling an output means according to the stored data to perform a maneuver defined according to the stored data.

[0197] The method may include controlling an output means according to the stored data to change the position of the movable protrusion or configure the movable protrusion according to the stored data during the defined maneuver.

[0198] The method may include changing the position of the movable protrusion of the vehicle or reconfiguring the movable protrusion between an extended position and a folded position during the defined maneuver.

[0199] The method may include receiving a signal indicating a user request to perform a defined maneuver. The method may include receiving a signal indicating a user request to perform a defined maneuver from a mobile device.

[0200] The 6th technology According to one aspect of the present invention, there is provided a controller configured to operably cause a vehicle to perform at least a part of a defined maneuver according to the terrain.

[0201] According to one aspect of the present invention, there is provided a controller comprising: input means for receiving a terrain signal indicating the terrain near the vehicle; output means for outputting a steering signal for causing the vehicle to execute a defined maneuver; and control means configured to control the output means in accordance with the terrain signal. Advantageously, it is possible to adapt the vehicle to execute a maneuver defined to conform to the terrain.

[0202] A controller as described above, wherein the input means can include an electrical input for receiving a signal, the output means can include an electrical output for outputting a signal, the control means can comprise one or more control devices such as an electronic processing device.

[0203] The defined maneuver may include a parking maneuver. The parking maneuver may include maneuvers during parking such as parking in a stationary position within a space. The parking maneuver may include maneuvers for releasing parking such as exiting the space from a stationary position. The defined maneuver completion position may include a parking position.

[0204] The control means may be configured to control the output means to cause the vehicle to execute at least a part of the defined maneuver according to a vehicle movement control profile determined according to the terrain signal. Advantageously, the defined maneuver can be executed on the vehicle in a controlled manner appropriate to the terrain.

[0205] The vehicle movement control profile may include a speed parameter. The speed parameter may indicate a primary speed parameter. Advantageously, it is possible to cause the vehicle to execute a defined maneuver at a vehicle speed appropriate to the terrain.

[0206] The control means may be configured to select a vehicle movement control profile according to the classification of the terrain. Advantageously, the vehicle can automatically or otherwise select parameters for the execution of a defined maneuver related to a predetermined category of terrain or a plurality of terrains.

[0207] The terrain can be a surface. The surface can include the ground such as a load-bearing surface (e.g., vehicle support). The surface can include a drivable surface such as for receiving at least one wheel thereon. The surface can include a substrate.

[0208] The category of terrain can include one or more of road terrain, off-road terrain, bumpy terrain, smooth terrain, slippery terrain, flat terrain, one or more of materials. The terrain can be classified according to one or more parameters corresponding to one or more of the following: bumpiness, smoothness, roughness, grip, slip, friction, one or more gradients, one or more inclinations, one or more materials. The one or more parameters can include magnitude and / or direction.

[0209] In addition to or as an alternative to responding to a terrain signal, the control means can be configured to control the output means in response to a topography signal indicative of the topography near the vehicle.

[0210] The speed parameter can indicate the acceleration of the vehicle. Advantageously, the vehicle can be made to execute a defined manoeuvre with appropriate acceleration so as to efficiently execute the defined manoeuvre and / or without excessive acceleration of the vehicle or its contents or occupants.

[0211] The speed parameter can indicate the jerk of the vehicle. Advantageously, the vehicle can be made to execute a defined manoeuvre with an appropriate rate of change of acceleration which can be physically and / or psychologically appropriate for the user.

[0212] The speed parameter includes a maximum speed parameter. Advantageously, the vehicle can be made to execute a defined manoeuvre with a maximum speed, acceleration, and / or jerk. Thereby, the defined manoeuvre is executed efficiently and / or physically and / or psychologically appropriately for the user.

[0213] The maximum speed parameter of the vehicle movement control profile corresponding to the first terrain may be smaller than the maximum speed parameter of the vehicle movement control profile corresponding to the second terrain. Advantageously, the maximum speed parameter can be varied to adapt to changes in the terrain.

[0214] The maximum speed parameter of the vehicle movement control profile corresponding to off-road terrain may be smaller than the maximum speed parameter of the vehicle movement control profile corresponding to on-road terrain. Advantageously, the maximum speed parameter can be decreased to accommodate differences in force. In at least some examples, the maximum speed parameter of the vehicle movement control profile corresponding to off-road terrain may be the same as or greater than the maximum speed parameter of the vehicle movement control profile corresponding to on-road terrain. For example, the maximum jerk of the vehicle movement control profile corresponding to off-road terrain can be increased if the user is accustomed to or can anticipate an increase in jerk (e.g., particularly related to rough terrain).

[0215] The movement control profile can be responsive to ambient conditions near the vehicle. Advantageously, the vehicle can be adapted to execute maneuvers defined to conform to the ambient conditions.

[0216] The controller may comprise second input means for receiving a request signal indicative of a received signal indicative of a user request. The request signal can indicate a signal received, wired or wireless, indicative of a user request from a user's mobile device or the like. Advantageously, this can enable the vehicle to be effectively commanded from the user's mobile device, such as being remotely directed.

[0217] The user can include passengers. The user can include the driver of the vehicle. The user can be inside the vehicle. The user can be outside the vehicle, for example, for at least part of the execution of a defined maneuver. The vehicle can include one or more non-driver passengers. In at least some examples, one or more users and / or passengers can be located inside and / or outside the vehicle.

[0218] The control means can be configured to determine a free space. The control means can be configured to define at least one vehicle envelope within the free space, the vehicle envelope being suitable for receiving the vehicle at a defined maneuver completion position. The control means can be configured to define at least one defined maneuver completion position of the vehicle within the free space.

[0219] The vehicle envelope may include a target position suitable for receiving the vehicle at a defined maneuver completion position. The vehicle envelope may include a defined maneuver completion position. The vehicle envelope can be determined according to one-dimensional characteristics and / or measurements and / or estimations. The vehicle envelope can be determined according to an environmental signal indicating a length such as an unobstructed length between features, and the unobstructed length is a length sufficient to receive the vehicle at the defined maneuver completion position. The vehicle envelope can be determined according to two-dimensional characteristics and / or measurements and / or estimations. For example, the vehicle envelope can be determined according to an environmental signal indicating a length such as between features, where along that length there are no obstacles in a particular width or spread perpendicular to that length. The particular width or spread can correspond to at least the width or spread of the vehicle, such as the vehicle width when the vehicle is parked and the vehicle opening member is closed. The particular width or spread can correspond to at least the length of the vehicle, such as the vehicle length when the vehicle is parked and in a closed configuration in a vertical or parking lot or fishbone-shaped diagonal parking position. The vehicle envelope can include at least one dimension of the parking area, and the defined maneuver completion position can be a parking position. The vehicle envelope can correspond to a pre-defined parking space. The vehicle envelope can include a target length, area, or volume for receiving the vehicle at or above the defined maneuver completion position.

[0220] The control means can be configured to define at least two vehicle envelopes within the available space, each vehicle envelope including an individually defined maneuver completion position offset within the available space.

[0221] The two vehicle envelopes can be non-overlapping. Alternatively, the two vehicle envelopes may overlap.

[0222] The two vehicle envelopes can be adjacent to each other, parallel, and extend in their respective longitudinal directions. Alternatively, the two vehicle envelopes can extend along the same longitudinal axis, at which time the first vehicle envelope is longitudinally displaced along the longitudinal axis from the second vehicle envelope. In yet another alternative, the vehicle envelopes can be arranged with non-parallel longitudinal axes, such as a first vehicle envelope having a longitudinal axis perpendicular to the longitudinal axis of the second vehicle envelope.

[0223] According to one aspect of the present invention, there is provided a system comprising a controller as described above configured to receive a terrain signal and output a steering signal, and actuator means for receiving a steering signal for causing a vehicle to execute a steering defined according to the terrain signal.

[0224] The system may comprise terrain sensing means for determining the terrain near the vehicle and outputting a terrain signal indicative thereof.

[0225] The system may comprise environment sensing means for determining the location of one or more features near the vehicle and outputting an environment signal indicative thereof. The terrain sensing means may comprise the environment sensing means.

[0226] The control means may be configured to control the output means to cause the vehicle to execute at least a part of the defined steering according to a vehicle movement control profile determined according to the terrain signal.

[0227] The control means may be configured to select a vehicle movement profile according to one or more features.

[0228] The control means may be configured to select a vehicle movement control profile according to the location of the vehicle.

[0229] The control means may be configured to select a vehicle movement control profile for executing the defined steering according to the driving mode of the vehicle.

[0230] The control means may be configured to select a vehicle movement control profile for performing a defined maneuver in response to the presence of an occupant within the vehicle.

[0231] The control means may be configured to receive an ambient condition signal indicative of at least one ambient condition near the vehicle. The control means may be configured to select a vehicle movement control profile for performing a defined maneuver in response to the ambient condition signal.

[0232] The system may comprise receiver means for receiving a signal indicative of a user request for the movement of the vehicle and for outputting a request signal in response thereto. The receiver means may be for wirelessly receiving a signal from a mobile user device indicative of the user request.

[0233] The system may comprise ambient condition sensing means for determining one or more ambient conditions near the vehicle and for outputting an ambient condition signal indicative thereof.

[0234] According to a further aspect of the invention, there is provided a method of controlling the movement of a vehicle to perform a defined maneuver, the method comprising receiving a terrain signal indicative of the terrain near the vehicle and controlling output means in response to the terrain signal such that at least part of the defined maneuver is performed in accordance with the terrain near the vehicle.

[0235] The method may comprise determining the terrain using terrain sensing means.

[0236] The method may comprise controlling output means in response to the terrain signal such that at least part of the defined maneuver is performed in accordance with a vehicle movement control profile in accordance with the terrain near the vehicle.

[0237] The method may comprise selecting a vehicle movement control profile in accordance with the driving mode of the vehicle.

[0238] The method may include selecting a vehicle movement control profile according to the presence of an occupant in the vehicle.

[0239] The method may include determining ambient conditions near the vehicle and selecting a vehicle movement control profile according to the ambient conditions.

[0240] The method may include determining the positions of one or more features near the vehicle using environmental sensing means and selecting a vehicle movement control profile according to the one or more features.

[0241] The method may include receiving a signal indicating a user request to perform a defined maneuver. The method may include receiving a signal indicating a user request to perform a defined maneuver from a mobile device.

[0242] The 7th technology According to one aspect of the present invention, there is provided a controller configured to operably cause a vehicle to perform a defined maneuver within some track portions, the number of the track portions being selectively adapted according to an environmental signal.

[0243] According to one aspect of the present invention, there is provided a controller including: input means for receiving an environmental signal indicating the location of one or more features near the vehicle; output means for outputting a maneuver signal for causing the vehicle to perform a defined maneuver to a defined maneuver completion position; and control means configured to control the output means so as to cause the vehicle to perform the defined maneuver, the control means being configured to determine a planned track for performing the defined maneuver within some track portions up to the defined maneuver completion position within a defined maneuver completion position tolerance range with respect to the features near the vehicle, and the control means being configured to determine the defined maneuver completion position tolerance range according to the environmental signal. Advantageously, the vehicle can be caused to perform a defined maneuver within some track portions adaptable to the features near the vehicle.

[0244] A controller as described above, where The input means can include an electrical input for receiving a signal, The output means can include an electrical output for outputting a signal, The control means can comprise one or more control devices such as an electronic processing device.

[0245] The defined maneuvers can include parking maneuvers. The parking maneuvers can include maneuvers during parking such as parking in a stationary position within a space. The parking maneuvers can include maneuvers for releasing parking such as exiting the space from a stationary position. The defined maneuver completion position can include a parking position.

[0246] The control means can be configured to determine the number of track segments according to the defined maneuver completion position tolerance range. Advantageously, the number of track segments can be adapted to fit the defined maneuver completion position tolerance range.

[0247] The control means can be configured to inversely associate the number of track segments with the defined maneuver completion position tolerance range, such that when the defined maneuver completion position tolerance range is large, the defined maneuver is limited to a smaller number of track segments, and when the defined maneuver completion position tolerance range is small, the defined maneuver is limited to a larger number of track segments. Advantageously, the number of track segments can be proportional to the size of the defined maneuver completion position tolerance range, such as inversely proportional. Thus, the accuracy or neatness of the defined maneuver completion position can be related to the vehicle envelope in which the vehicle is located.

[0248] The control means can be configured to determine an empty space. The control means can be configured to define at least one vehicle envelope within the empty space, and the vehicle envelope is suitable for receiving the vehicle at the defined maneuver completion position. The control means can be configured to define at least one defined maneuver completion position of the vehicle within the empty space.

[0249] The vehicle envelope may include a target position suitable for receiving the vehicle at a defined maneuver completion position. The vehicle envelope may include a defined maneuver completion position. The vehicle envelope can be determined according to one-dimensional characteristics and / or measurements and / or estimations. The vehicle envelope can be determined according to an environmental signal indicating a length such as an unobstructed length between features, and the unobstructed length is a length sufficient to receive the vehicle at the defined maneuver completion position. The vehicle envelope can be determined according to two-dimensional characteristics and / or measurements and / or estimations. For example, the vehicle envelope can be determined according to an environmental signal indicating a length such as between features, where along that length there are no obstacles for a specific width or spread perpendicular to that length. The specific width or spread can correspond to at least the width or spread of the vehicle, such as the vehicle width when the vehicle is parked and the vehicle opening member is closed. The specific width or spread can correspond to at least the length of the vehicle, such as the vehicle length when the vehicle is parked and in a closed configuration at a vertical or parking lot or fishbone-shaped diagonal parking position. The vehicle envelope can include at least one dimension of the parking area, and the defined maneuver completion position can be a parking position. The vehicle envelope can correspond to a pre-defined parking space. The vehicle envelope can include a target length, area, or volume for receiving the vehicle at or above the defined maneuver completion position.

[0250] The control means can be configured to define at least two vehicle envelopes within the available space, and each vehicle envelope includes an individually defined maneuver completion position offset within the available space.

[0251] The two vehicle envelopes can be non-overlapping. Alternatively, the two vehicle envelopes may overlap.

[0252] The two vehicle envelopes can be adjacent to each other, parallel, and extend in their respective longitudinal directions. Alternatively, the two vehicle envelopes can extend along the same longitudinal axis, where the first vehicle envelope is longitudinally displaced along the longitudinal axis from the second vehicle envelope. In yet another alternative, the vehicle envelopes can be arranged with non-parallel longitudinal axes, such as a first vehicle envelope having a longitudinal axis perpendicular to the longitudinal axis of the second vehicle envelope.

[0253] The control means can be configured to determine both the defined maneuver completion position tolerance range and the number of track sections in response to an environmental signal indicating the vehicle envelope parameters of the vehicle envelope for receiving the vehicle. Advantageously, both the number of track sections and the defined maneuver completion position tolerance range can be adapted to fit the vehicle envelope in which the vehicle is arranged at the defined maneuver completion position.

[0254] The control means can be configured to provide a larger defined maneuver completion position tolerance range for a vehicle envelope having larger vehicle envelope parameters. For example, the vehicle envelope parameters can be one or more dimensions, such as the separation from or between one or more features near the vehicle. Advantageously, the defined maneuver completion position tolerance range can be larger when the vehicle envelope is larger, such that, for example, the defined maneuver completion position need not be as accurate when the separation from one or more features near the vehicle is larger. For example, if the vehicle envelope includes a larger parking space, a larger tolerance range can be provided (e.g., the vehicle need not be placed as accurately within the space).

[0255] The control means may be configured to provide a smaller number of track portions for a vehicle envelope having a larger vehicle envelope parameter. Advantageously, the defined maneuver completion position tolerance can be made smaller when the vehicle envelope is small, thereby enabling the defined maneuver completion position to be more accurate when the separation from one or more features near the vehicle is small.

[0256] The control means may be configured to determine at least one of the defined maneuver completion position tolerance and the number of track portions according to the location of the vehicle occupants. The location of the occupants can be within the vehicle, such as the driver in the driver's seat. Advantageously, the number of track portions or the defined maneuver completion position tolerance can be adapted to fit whether one or more occupants are inside or outside the vehicle. For example, the control means may be configured to allow for fewer track portions for a more rapid defined maneuver when a vehicle occupant, such as a driver, is present inside the vehicle (and optionally, conversely, when no vehicle occupant is present). Alternatively, the control means may be configured to allow for more track portions for a more accurate defined maneuver completion position when a vehicle occupant, such as a driver, is present inside the vehicle (and optionally, conversely, when no vehicle occupant is present).

[0257] The control means may be configured to determine at least one of the defined maneuver completion position tolerance and the number of track portions according to the mode for performing the defined maneuver. The execution mode may include one or more of at least one mode corresponding to the occupant inside vehicle mode and at least one mode corresponding to the occupant outside vehicle mode. Advantageously, the execution of the defined maneuver (e.g., the number of track portions or direction changes) can be adapted to fit the execution mode according to whether the occupant is located inside or outside the vehicle (e.g., the physical and / or psychological impact on the user).

[0258] The number of some of the track portions within the range in which the defined maneuver is executed can be the maximum number of track portions. Advantageously, the defined maneuver can be limited to the maximum number of portions so that the defined maneuver, or at least the user's perception thereof, is not executed within too many track portions.

[0259] The planned trajectory can be from the defined maneuver start position to the defined maneuver end position. The number of track portions can be the total number of track portions from the defined maneuver start position to the defined maneuver end position. Advantageously, the entire defined maneuver can be executed with a limited total number of track portions so that it can be considered physically and / or psychologically acceptable or desirable to the user.

[0260] The defined maneuver end position tolerance range can include at least one of an angular range and a distance range with respect to a feature near the vehicle. Advantageously, the defined maneuver end position tolerance range can help ensure that the vehicle is aligned and / or separated (e.g., relative to or from at least one nearby feature) as desired or required by the user.

[0261] The control means can be configured to determine each successive track portion that is in the vehicle longitudinal direction opposite to the preceding track portion. Advantageously, the vehicle can be moved repeatedly or continuously rearward and then forward (or vice versa), and thus a continuous movement that is continuous in any single longitudinal direction can be provided.

[0262] The controller may comprise input means for receiving a request signal indicative of a received signal indicative of a user request for the movement of the vehicle. The request signal may indicate a signal received, either wired or wirelessly, indicative of a user request from a user's mobile device or the like. For example, the request signal may indicate a user request transmitted wirelessly from a mobile device and received by the controller or another device or system connected thereto (e.g., for the execution of a part of a particular defined maneuver). Advantageously, this may enable the vehicle to be effectively commanded from the user's mobile device, such as being remotely instructed.

[0263] The user may include an occupant. The user may include the driver of the vehicle. The user may be inside the vehicle. The user may be outside the vehicle, for example, for the execution of at least a part of a defined maneuver. The vehicle may include one or more non-driver occupants. In at least some examples, one or more users and / or occupants may be located inside and / or outside the vehicle.

[0264] According to one aspect of the invention, there is provided a system comprising a controller as described above configured to receive an environmental signal and output a maneuvering signal, environmental sensing means configured to determine the location of one or more features near the vehicle, and actuator means for receiving a maneuvering signal for causing the vehicle to execute a defined maneuver.

[0265] The system may comprise receiver means for receiving a signal indicative of a user request for the movement of the vehicle and outputting a request signal in response thereto.

[0266] The system may comprise user input means for receiving user input for configuring control means to determine at least one of a defined maneuver completion position tolerance and a number of track segments.

[0267] The system may include location input means for receiving a location input for configuring control means to determine at least one of a defined maneuver completion position tolerance range and a number of trajectory segments according to location parameters.

[0268] According to one aspect of the present invention, there is provided a method of controlling the movement of a vehicle to execute a defined maneuver to a defined maneuver completion position, the method comprising receiving an environmental signal indicating the location of one or more features near the vehicle, determining a defined maneuver completion position tolerance range according to the environmental signal, determining a planned trajectory for executing the defined maneuver within a number of trajectory segments to the defined maneuver completion position within the defined maneuver completion position tolerance range for a feature near the vehicle, and outputting a maneuver signal for causing the vehicle to execute the defined maneuver.

[0269] The method may include determining the number of trajectory segments according to the defined maneuver completion position tolerance range.

[0270] The method may include inversely associating the number of trajectory segments with the defined maneuver completion position tolerance range, such that when the defined maneuver completion position tolerance range is large, the defined maneuver is executed in a smaller number of trajectory segments, and when the defined maneuver completion position tolerance range is small, the defined maneuver is limited to a larger number of trajectory segments.

[0271] The method may include determining both the defined maneuver completion position tolerance range and the number of trajectory segments according to an environmental signal indicating that vehicle envelope parameters of a vehicle envelope for receiving the vehicle exceed a threshold value.

[0272] The method may include providing a larger defined maneuver completion position tolerance range for a vehicle envelope having larger vehicle envelope parameters.

[0273] The method may include providing a smaller number of trajectory segments for a vehicle envelope having smaller vehicle envelope parameters.

[0274] The method may include determining at least one of a defined maneuver completion position tolerance range and a number of track segments according to the location of the vehicle occupant.

[0275] The method may include sequentially moving the vehicle in a single alternating longitudinal vehicle direction in each successive track segment such that each track segment is in a longitudinal vehicle direction opposite to at least one of the immediately preceding and immediately following track segments.

[0276] The method may include receiving a signal indicating a user request for the movement of the vehicle and outputting a request signal accordingly.

[0277] The method may include determining at least one of a number of track segments and a defined maneuver completion position tolerance range according to an ambient condition signal.

[0278] The 8th technology According to one aspect of the present invention, there is provided a controller configured to operably execute a defined maneuver on a vehicle in a mode corresponding to an in-vehicle occupant mode or a mode corresponding to an out-of-vehicle occupant mode, the mode being variable during the defined maneuver.

[0279] According to one aspect of the present invention, there is provided a controller including output means for outputting a maneuver signal for causing a vehicle to execute a defined maneuver, and control means configured to control the output means, the control means being configured to provide a mode for executing at least a part of the defined maneuver, the mode being selectable from a plurality of modes including at least one mode corresponding to an in-vehicle occupant mode and at least one mode corresponding to an out-of-vehicle occupant mode, and the control means being configured to change the mode during the defined maneuver. Advantageously, the defined maneuver can be executed in a plurality of modes, and the mode changes during the maneuver to adapt to the user.

[0280] A controller as described above, where The input means can include an electrical input for receiving a signal, The output means can include an electrical output for outputting a signal, The control means can comprise one or more control devices such as an electronic processing device.

[0281] The defined maneuvers can include a parking maneuver. The parking maneuver can include maneuvers during parking such as parking in a stationary position within a space. The parking maneuver can include maneuvers to release parking such as exiting the space from a stationary position. The defined maneuver completion position can include a parking position.

[0282] The controller can comprise input means for receiving a request signal indicating a received signal indicative of a user request for the movement of the vehicle.

[0283] The input means can be for receiving a request signal indicating a mode selection.

[0284] The control means can be configured such that a mode can be selected according to the location of the vehicle occupants. Advantageously, only one or more appropriate or optimal modes for the location of the vehicle occupants can be selectable.

[0285] The control means can be configured to control the mode according to the location of the vehicle occupants shifting between an in-vehicle location and an out-of-vehicle location. Advantageously, the mode can be changed when the occupants enter or exit the vehicle.

[0286] The controller can be configured to receive an input indicating the location and / or state of one or more occupants, such as via location detection of a latch (e.g., a seat belt buckle), or a key fob, or driver state recognition.

[0287] The controller can be provided with environmental input means for receiving an environmental signal indicating the location of one or more features near the vehicle, and the control means is configured such that a mode can be selected in response to the environmental signal indicating a vehicle envelope suitable for the mode. Advantageously, only one or more modes appropriate or optimal for the vehicle envelope can be made selectable.

[0288] The user can include passengers. The user can include the driver of the vehicle. The user can be inside the vehicle. The user can be outside the vehicle, for example, for at least part of the execution of a defined manoeuvre. The vehicle can include one or more non-driver passengers. In at least some examples, one or more users and / or passengers can be located inside and / or outside the vehicle.

[0289] The control means can be configured to determine a free space. The control means can be configured to define at least one vehicle envelope within the free space, the vehicle envelope being suitable for receiving the vehicle at a defined manoeuvre completion position. The control means can be configured to define at least one defined manoeuvre completion position of the vehicle within the free space.

[0290] The vehicle envelope may include a target position suitable for receiving the vehicle at a defined maneuver completion position. The vehicle envelope may include a defined maneuver completion position. The vehicle envelope can be determined according to one-dimensional characteristics and / or measurements and / or estimations. The vehicle envelope can be determined according to an environmental signal indicating a length such as an unobstructed length between features, and the unobstructed length is a length sufficient to receive the vehicle at a defined maneuver completion position. The vehicle envelope can be determined according to two-dimensional characteristics and / or measurements and / or estimations. For example, the vehicle envelope can be determined according to an environmental signal indicating a length such as between features, where along that length there are no obstacles in a particular width or spread perpendicular to that length. The particular width or spread can correspond to at least the width or spread of the vehicle, such as the vehicle width when the vehicle is parked and the vehicle opening member is closed. The particular width or spread can correspond to at least the length of the vehicle, such as the vehicle length when the vehicle is parked and in a closed configuration at a vertical or parking lot or fishbone-shaped diagonal parking position. The vehicle envelope can include at least one dimension of the parking area, and the defined maneuver completion position can be a parking position. The vehicle envelope can correspond to a pre-defined parking space. The vehicle envelope can include a target length, area, or volume for receiving the vehicle at or above a defined maneuver completion position.

[0291] The control means can be configured to define at least two vehicle envelopes within the available space, and each vehicle envelope includes an individually defined maneuver completion position offset within the available space.

[0292] The two vehicle envelopes can be non-overlapping. Alternatively, the two vehicle envelopes may overlap.

[0293] The two vehicle envelopes can be adjacent to each other, parallel, and extend in their respective longitudinal directions. Alternatively, the two vehicle envelopes can extend along the same longitudinal axis, where the first vehicle envelope is longitudinally displaced along the longitudinal axis from the second vehicle envelope. In yet another alternative, the vehicle envelopes can be arranged with non-parallel longitudinal axes, such as a first vehicle envelope having a longitudinal axis perpendicular to the longitudinal axis of the second vehicle envelope.

[0294] According to one aspect of the present invention, there is provided a system comprising the controller described above configured to output a steering signal, and actuator means for receiving a steering signal for causing the vehicle to execute a defined steering.

[0295] The system may comprise receiver means for receiving a signal indicative of a user request for the movement of the vehicle and outputting a request signal in response thereto. The signal indicative of the user request may be received wired or wirelessly. The controller may be configured to receive an input indicative of the location and / or state of one or more occupants, such as via location detection (e.g., seat belt buckle) or driver state recognition, such as a key fob.

[0296] The controller may be configured to control the provision of modes according to the location of the vehicle occupants.

[0297] The system may comprise environmental sensing means for determining the location of one or more features near the vehicle.

[0298] According to one aspect of the present invention, there is provided a method of controlling the movement of a vehicle to perform a defined maneuver, the method comprising: providing a mode for performing at least a part of the defined maneuver, the mode being selectable from a plurality of modes including at least one mode corresponding to an in-vehicle mode and at least one mode corresponding to an out-of-vehicle mode; outputting a maneuver signal for causing the vehicle to perform at least a part of the defined maneuver in the selected mode; and changing the mode during the execution of the defined maneuver.

[0299] The method may include receiving a signal indicating a user request for the movement of the vehicle and outputting a request signal accordingly.

[0300] The method may include the user selecting a mode.

[0301] The method may include automatically selecting a default mode.

[0302] The method may include automatically selecting a default mode according to the presence of an occupant in the vehicle.

[0303] The method may include receiving an environmental signal indicating the location of one or more features near the vehicle and providing a selectable mode according to the features near the vehicle.

[0304] The part of the defined maneuver may include one or more of the start of the defined maneuver, the completion of the defined maneuver, and the entire defined maneuver.

[0305] The method may include providing the user with the possibility of selecting a mode.

[0306] The 9th technology According to one aspect of the present invention, there is provided a controller operably configured such that the vehicle automatically notifies the user of an opportunity to perform a defined maneuver.

[0307] According to one aspect of the present invention, a controller, input means for receiving an input signal, control means configured to determine a defined driving opportunity for at least partial execution of a defined driving by a vehicle, notification output means for outputting a notification signal, and control means configured to control the notification output means to output a notification signal indicating the determination of the defined driving opportunity by the control means, wherein the control means is configured to control the notification output means to automatically notify the vehicle user regardless of a user request for the determination of the defined driving opportunity by the control means, and the control means is configured to control the notification output means to notify the vehicle user of the defined driving opportunity in response to an input signal indicating a vehicle parameter, driving output means for outputting a driving signal for causing the vehicle to execute the defined driving, request input means for receiving a request signal indicating a user request for at least partial execution of the defined driving, wherein the driving output means is controlled by the control means to cause the vehicle to execute the defined driving in response to the request signal, and a controller is provided.

[0308] a controller as described above, wherein the input means can include an electrical input for receiving a signal, the output means can include an electrical output for outputting a signal, the control means can include one or more control devices such as an electronic processing device.

[0309] The defined driving may include a parking operation. The parking operation may include an in-parking operation such as parking in a stationary position within a space. The parking operation may include a parking release operation such as exiting the space from the stationary position. The defined driving completion position may include a parking position.

[0310] The vehicle parameter can be a non-speed parameter. The vehicle parameter can indicate at least one of the state of the vehicle and the position of the vehicle.

[0311] The vehicle parameter can be associated with the execution of a defined maneuver. The vehicle parameter can be selectable from at least two vehicle parameters, and the two vehicle parameters include at least a vehicle speed parameter and at least one additional parameter of the vehicle. The additional parameter of the vehicle can include a non-speed parameter.

[0312] The control means can be configured to control the notification means to output a notification signal indicating a defined maneuver opportunity without requiring user activation of the controller for determining the defined maneuver opportunity.

[0313] The control means can be configured to control the notification means to output a notification signal indicating the determination of a defined maneuver opportunity in response to an input signal from the input means, and the controller is configured to receive the input signal from at least one of a plurality of input sources.

[0314] The control means can be configured to control the notification means to output a notification signal indicating the determination of a defined maneuver opportunity in response to an input signal, and the input signal includes at least one of the following: An environmental signal indicating the location of at least one feature near the vehicle, An operation signal indicating the operation of the vehicle, A steering signal indicating a steering input, An event signal indicating a vehicle event, and A location signal indicating the location of the vehicle.

[0315] The control means can be configured to control the notification means to output a notification signal in response to a determination by the control means of a maneuver initiated by the user.

[0316] The control means can be configured to transfer control from the user to the control means in order to continue the execution of the maneuver initiated by the user as a defined maneuver.

[0317] The control means can be configured to determine an opportunity in response to the determination of a planned trajectory for executing a defined maneuver to a defined maneuver completion position.

[0318] The control means can be configured to determine a plurality of opportunities for executing at least a part of the defined maneuver, and the control means is configured to control the notification means to output a notification signal to the user regarding the determination of the plurality of opportunities.

[0319] The controller can include user input means for receiving a request signal indicating a received signal indicating a user request. The request signal can indicate a signal received wired or wirelessly indicating a user request from a user's mobile device or the like. Advantageously, this can enable the vehicle to be effectively commanded from the user's mobile device, such as being commanded remotely by a user outside the vehicle.

[0320] The user can include passengers. The user can include the driver of the vehicle. The user can be inside the vehicle. The user can be outside the vehicle, for example, for at least a part of the execution of a defined maneuver. The vehicle can include one or more non-driver passengers. In at least some examples, one or more users and / or passengers can be located inside and / or outside the vehicle.

[0321] The control means can be configured to control the maneuver output means to execute the defined maneuver from the maneuver end position initiated by the user in response to the request signal. Advantageously, it is possible to cause the vehicle to execute the defined maneuver from an unspecified defined maneuver start position, such as corresponding to any maneuver end position initiated by the user or not being a predetermined defined maneuver start position.

[0322] The operation started by the user can include parking operations. The parking operation started by the user can include partial parking operations to an incomplete parking position (for example, not fully entering or leaving the parking space). The parking operation can include operations during parking such as parking in a stationary position within the space. The parking operation can include parking release operations such as exiting the space from the stationary position. The operation end position started by the user can include the stationary vehicle position.

[0323] The control means can be configured to detect the execution of the operation started by the user in response to the input signal. The control means can be configured to control the notification output means to notify the user of the detection of the operation started by the user by the control means. Advantageously, the user can be warned about the possibility of executing the defined operation.

[0324] The control means can be configured to control the notification output means to automatically output a notification signal when the control means detects the operation started by the user. The control means can be configured to provide the continuation by the user as a defined operation. Advantageously, the possibility of executing the defined operation can be provided to the user without necessarily explicitly requesting or asking for it.

[0325] The control means can be configured to control the notification output means to output a notification signal regardless of the user request for the operation output means controlled by the control means. Advantageously, the controller can be configured to automatically output a notification signal without requiring activation by the vehicle user. For example, the user may otherwise not be aware of the possibility of executing the defined operation (such as in a specific scenario), and thus, by enabling the notification signal to be output regardless of the user request, it may be possible to provide the user with more and more useful defined operation possibilities (compared to only what the user has explicitly requested beforehand).

[0326] The control means can be configured to control the notification output means at least partially in response to an input signal received before the user-initiated maneuver up to the maneuver end position initiated by the user. Advantageously, the control means can determine from the previous input signal whether one or more defined maneuvers are possible (for example, if the previous input signal included data that is no longer available via the corresponding input means).

[0327] The control means can be configured to suppress the notification output means, such as by not notifying the vehicle user of the detection by the control means of the user-initiated maneuver. Advantageously, the user can customize the control means. For example, in scenarios or types of scenarios where the user does not want to perform a defined maneuver (for example, when the user identification is different, such as when the driver of the vehicle is different), the control means can be configured not to notify the user.

[0328] The control means can be configured to control the maneuver output means to cause the vehicle to follow a planned trajectory from the user-initiated maneuver end position to a defined maneuver completion position. Advantageously, the control means can pre-determine the trajectory for the vehicle to perform the defined maneuver.

[0329] The planned trajectory can include at least a partial modification of the user-initiated maneuver performed before the user request. Advantageously, at least part of the user-initiated maneuver can be modified or restored. For example, if the user enters or partially enters a parking space or location in an inappropriate vehicle angle in a user-initiated parking maneuver with respect to the parking space or location, the control means can be configured to place the vehicle more appropriately within that space or location and / or (for example, to resume parking as a defined maneuver) configured to move the vehicle from the parking space or location.

[0330] The control means may be configured to control the steering output means so as to cause the vehicle to execute at least a partial reversal of a user-initiated steering executed before a defined steering.

[0331] The control means can be configured to control the steering output means to execute the defined steering from a user-defined start position of the defined steering, and the user-defined start position of the defined steering corresponds to the steering end position by user start. The start position of the defined steering may include an intermediate steering position, such as partially entering and exiting an empty space of the vehicle.

[0332] The controller may include memory means for internally storing data. The memory means may be configured to store data received via the input means. The control means may be configured to control the notification means to output a notification signal indicating an opportunity according to the data.

[0333] The stored data may indicate a previously executed defined steering.

[0334] The control means may be configured to control the steering output means so as to cause the vehicle to execute at least a partial repetition of a previously executed defined steering. The execution may be selective.

[0335] The control means may be configured to control the steering output means so as to cause the vehicle to execute at least a partial reversal of a previously executed defined steering. The reversal may include an opposite steering or a reverse. For example, the reversal may include a parking release steering of a previous parking steering, or a parking steering of a previous parking release steering.

[0336] The stored data may indicate a previously executed user-initiated steering.

[0337] The control means may be configured to control the notification output means to notify the user in response to a defined steering following a previously executed user-initiated steering.

[0338] The input means can be configured to receive a plurality of input signals from a plurality of input sources, and the plurality of input signals are selected from at least the following: An environmental signal indicating a feature near the vehicle, An operation signal indicating the operation of the vehicle, A steering signal indicating the steering of the user, An event signal indicating a vehicle event, and A location signal indicating a geographical location.

[0339] According to one aspect of the present invention, there is provided a system comprising the controller described above configured to output a steering signal, and actuator means for receiving a steering signal for causing the vehicle to perform a defined steering.

[0340] The system may comprise environmental sensing means for determining the location of one or more features near the vehicle and outputting an environmental signal indicating the same.

[0341] The environmental sensing means may be automatically activatable in response to a vehicle speed parameter.

[0342] The environmental sensing means may be automatically activatable independently of the vehicle speed parameter.

[0343] The environmental sensing means may be automatically activatable in response to an additional parameter of the vehicle.

[0344] The environmental sensing means may be automatically activatable independently of an additional parameter of the vehicle.

[0345] The environmental sensing means may be automatically activatable in response to either a vehicle speed parameter or an additional parameter of the vehicle. For example, the environmental sensing means can be automatically activated simply by reaching an appropriate threshold value of either the vehicle speed parameter or the additional parameter of the vehicle.

[0346] The environment perception means may be automatically activatable regardless of either the vehicle speed parameter or additional parameters of the vehicle. Advantageously, the environment perception means may require only one parameter (e.g., reaching a threshold value) to be activated.

[0347] The system may include receiver means. The receiver means may be for receiving a user signal indicating a user request. The receiver means may be for outputting a request signal in response to the reception of the user signal. The receiver means may be for receiving a wired and / or wireless signal indicating a user request from a mobile device or the like. Advantageously, it is possible to receive a user request transmitted from outside the vehicle in order to enable at least some defined maneuvers to be performed while the occupant is outside the vehicle.

[0348] The system may comprise notification means for notifying the user.

[0349] According to one aspect of the present invention, a method for controlling the movement of a vehicle to execute a defined maneuver, comprising: receiving an input signal, the input signal indicating a vehicle parameter, and determining, using control means, a defined maneuver opportunity for at least part of the execution of the defined maneuver by the vehicle; automatically notifying the vehicle user of the determination of the defined maneuver opportunity for at least part of the execution of the defined maneuver, regardless of a user request for the determination of the defined maneuver opportunity for at least that part of the execution of the defined maneuver, the notification of the opportunity to the vehicle user being in response to the reception of the input signal indicating the vehicle parameter; receiving, using a maneuver output means controlled by the control means, a request signal indicating a user request for at least part of the execution of the defined maneuver; outputting, using a maneuver output means controlled by the control means, a maneuver signal for causing the vehicle to execute the defined maneuver in response to the request signal. A method is provided.

[0350] The vehicle parameters can be non-speed parameters and can indicate at least one of the vehicle state and the vehicle position.

[0351] The method may include controlling the notification means to output a notification signal indicating an opportunity to execute a part of a defined maneuver without requiring activation of the user of the control means to determine the opportunity.

[0352] The method may include notifying the user of an opportunity decision in response to receiving an input signal, the input signal including at least one of the following: An environmental signal indicating the location of at least one feature near the vehicle, An operation signal indicating the operation of the vehicle, A steering signal indicating the user's steering input, An event signal indicating a vehicle event, and A location signal indicating the location of the vehicle.

[0353] The method may include performing a defined maneuver, where the defined maneuver is a parking maneuver.

[0354] The method may include determining a user-initiated maneuver and notifying the user of an opportunity in response to the determination of the user-initiated maneuver.

[0355] The method includes receiving an environmental signal indicating the location of at least one feature near the vehicle and detecting an available space in response to the environmental signal, the available space including a vehicle envelope suitable for receiving the vehicle at a defined maneuver completion position, and may include determining an opportunity in response to the detection of the available space.

[0356] The vehicle envelope may include a target position suitable for receiving the vehicle at a defined maneuver completion position. The vehicle envelope may include a defined maneuver completion position. The vehicle envelope can be determined according to one-dimensional characteristics and / or measurements and / or estimations. The vehicle envelope can be determined according to an environmental signal indicating a length such as an unobstructed length between features, and the unobstructed length is a length sufficient to receive the vehicle at the defined maneuver completion position. The vehicle envelope can be determined according to two-dimensional characteristics and / or measurements and / or estimations. For example, the vehicle envelope can be determined according to an environmental signal indicating a length such as between features, where along that length there are no obstacles for a particular width or spread perpendicular to that length. The particular width or spread can correspond to at least the width or spread of the vehicle, such as the vehicle width when the vehicle is parked and the vehicle opening member is closed. The particular width or spread can correspond to at least the length of the vehicle, such as the vehicle length when the vehicle is parked and in a closed configuration at a vertical or parking lot or fishbone-shaped diagonal parking position. The vehicle envelope can include at least one dimension of the parking area, and the defined maneuver completion position can be a parking position. The vehicle envelope can correspond to a pre-defined parking space. The vehicle envelope can include a target length, area, or volume for receiving the vehicle at or above the defined maneuver completion position.

[0357] The method can include receiving a request signal indicating a wired or wirelessly received signal indicating a user request for movement of the vehicle.

[0358] The method can include storing data in a memory means and determining an opportunity according to the data.

[0359] The method may include associating vehicle parameters with the execution of a defined maneuver. The vehicle parameters can be selectable from at least two vehicle parameters, and the two vehicle parameters include at least a vehicle speed parameter and at least one additional parameter of the vehicle.

[0360] The method may include receiving a request signal, where the request signal indicates a user request for transferring control from the user to the control means for the continuation of a user-initiated maneuver as a defined maneuver.

[0361] The method may include detecting a user-initiated maneuver using the control means in response to an input signal, notifying the user of the detection of the user-initiated maneuver by the control means, and providing a transfer of control to the control means for the continuation of the user-initiated maneuver as a defined maneuver.

[0362] The method may include enabling the vehicle to return to user control before the defined maneuver is completed up to the defined maneuver completion position.

[0363] The method may include determining the location of one or more features near the vehicle using environmental sensing means.

[0364] The method may include receiving a signal from a mobile device indicating a user request to execute a defined maneuver.

[0365] The 10th technology According to one aspect of the present invention, there is provided a controller configured to operably cause the vehicle to execute a defined maneuver up to a defined maneuver completion position within a free space in a state where the vehicle is selectively offset within the free space at the defined maneuver completion position.

[0366] According to one aspect of the present invention, there is provided a controller comprising: an environmental input means for receiving an environmental signal indicating the location of at least one feature near the vehicle; a control means configured to determine a free space in response to the environmental signal, the control means being configured to define at least one defined maneuver completion position of the vehicle within the free space; a user input means for receiving a request signal indicating a user request; and an output means for outputting a maneuver signal for causing the vehicle to execute a defined maneuver to a defined maneuver completion position, wherein the control means is configured to selectively offset the defined maneuver completion position within the free space by controlling the output means. Advantageously, the defined maneuver can be executed to a more preferred defined maneuver completion position that is not necessarily centered or aligned.

[0367] A controller as described above, wherein the input means can include an electrical input for receiving a signal, the output means can include an electrical output for outputting a signal, the control means can comprise one or more control devices such as an electronic processing device.

[0368] The defined maneuver can include a parking maneuver. The parking maneuver can include maneuvers during parking such as parking in a stationary position within a space. The parking maneuver can include maneuvers for releasing parking such as exiting the space from a stationary position. The defined maneuver completion position can include a parking position.

[0369] The control means can be configured to selectively offset the defined maneuver completion position in response to the request signal. Advantageously, the defined maneuver can be executed to an offset defined maneuver completion position selected by the user.

[0370] The control means can be configured to selectively offset a defined maneuver completion position according to the features indicated by the environmental signal. Advantageously, the defined maneuver can be executed to a defined maneuver completion position offset towards or away from a specific feature.

[0371] The control means can be configured to selectively offset a defined maneuver completion position according to the proximity of the features indicated by the environmental signal to the vehicle. Advantageously, the defined maneuver can be executed to position the vehicle at a predetermined distance from the feature, or at a minimum or maximum distance.

[0372] The control means can be configured to selectively offset a defined maneuver completion position towards the features indicated by the environmental signal. Advantageously, the defined maneuver can be executed to a more preferred defined maneuver completion position offset towards the specific feature.

[0373] Alternatively, the control means can be configured to selectively offset a defined maneuver completion position away from the features indicated by the environment. In at least some examples, the control means can be configured to offset the vehicle towards a first feature and / or away from a second feature.

[0374] Features where the vehicle is relatively offset, or features at the starting point where the vehicle is offset, may include features for aligning with the vehicle. For example, features where the vehicle is relatively offset, or features at the starting point where the vehicle is offset, may include features adjacent to and / or aligned with a defined maneuver completion position. The control means may be configured to determine features as features for offsetting and / or aligning. The control means may be configured to determine whether the feature is an obstacle to be avoided and / or a feature for aligning and / or offsetting the vehicle relative thereto. For example, the control means may be configured to determine the orientation of the feature, such as the orientation of at least one surface of the feature and / or the axis (e.g., longitudinal direction) of the feature. The orientation of the feature may include an angle such as an angle relative to a target-defined maneuver completion position and / or the longitudinal axis of the vehicle and / or a target space or envelope for receiving the vehicle. The control means may be configured to offset and / or align the vehicle relative to the feature in an orientation including a specific angle. For example, the control means may be configured to offset and / or align the vehicle relative to a feature oriented with an angle (relative to a defined maneuver completion position and / or the longitudinal axis of the vehicle) below a threshold value. The control means may be configured to determine a feature having a specific orientation as a feature for aligning and / or offsetting. For example, the control means can be configured to align and offset the vehicle to a defined maneuver completion position, and the vehicle is aligned and offset relative to an adjacent feature, such that the adjacent feature has an angular deviation of less than, for example, 5 degrees from the original target-defined maneuver completion position. The control means may be configured to determine a feature having another specific orientation, such as exceeding an angular threshold, as an obstacle to be avoided and / or an object to be maneuvered around.

[0375] The control means can be configured to determine a free space. The control means can be configured to define at least one vehicle envelope within the free space, and the vehicle envelope is suitable for receiving the vehicle at the defined maneuver completion position. The control means can be configured to define at least one defined maneuver completion position of the vehicle within the free space.

[0376] The vehicle envelope can include a target position suitable for receiving the vehicle at the defined maneuver completion position. The vehicle envelope can include a defined maneuver completion position of the target. The vehicle envelope can be determined according to one-dimensional characteristics and / or measurements and / or estimations. The vehicle envelope can be determined according to an environmental signal indicating a length such as an unobstructed length between features, and the unobstructed length is a length sufficient to receive the vehicle at the defined maneuver completion position. The vehicle envelope can be determined according to two-dimensional characteristics and / or measurements and / or estimations. For example, the vehicle envelope can be determined according to an environmental signal indicating a length such as between features, where along that length there are no obstacles in a specific width or spread perpendicular to that length. The specific width or spread can correspond to at least the width or spread of the vehicle, such as the vehicle width when the vehicle is parked and the vehicle opening member is closed. The specific width or spread can correspond to at least the length of the vehicle, such as the vehicle length when the vehicle is parked and in a closed configuration at a vertical or parking lot or fishbone-shaped diagonal parking position. The vehicle envelope can include at least one dimension of the parking area, and the defined maneuver completion position can be a parking position. The vehicle envelope can correspond to a pre-defined parking space. The vehicle envelope can include a target length, area, or volume for receiving the vehicle at or above the defined maneuver completion position.

[0377] The control means can be configured to define at least two vehicle envelopes within the free space, and each vehicle envelope includes an individually defined maneuver completion position offset within the free space.

[0378] The vehicle envelopes may be non - overlapping. Alternatively, the vehicle envelopes may overlap.

[0379] The vehicle envelopes can be adjacent to each other and extend in their respective longitudinal directions in parallel. Alternatively, the vehicle envelopes can extend along the same longitudinal axis, and the first vehicle envelope is longitudinally displaced along the longitudinal axis from the second vehicle envelope. In yet another alternative, the vehicle envelopes can be arranged with non - parallel longitudinal axes, such as a first vehicle envelope having a longitudinal axis perpendicular to the longitudinal axis of the second vehicle envelope.

[0380] The control means can be configured to selectively offset a defined actuation completion position according to the location of the vehicle occupants. Advantageously, the offset, such as the direction and / or magnitude (distance and / or angle) of the offset, can be adapted to the location of the vehicle occupants, such as whether the vehicle occupants are located inside or outside the vehicle. The location of the user can be inside the vehicle. For example, if all the vehicle occupants (e.g., the occupants of a single - driver vehicle such as the driver) are located in the seats on one side of the vehicle (e.g., the left side of a left - hand - drive vehicle), the offset can provide a greater clearance or separation of the vehicle on that one side (e.g., to provide more room for the occupants on that one side to access from / to the vehicle). The location of the occupants can be outside the vehicle. For example, if there are no occupants inside the vehicle, another parameter can be more decisive in defining the offset or the default offset.

[0381] The controller can comprise memory means for internally storing data, and the control means is configured to selectively offset a defined maneuver completion position according to the data. Advantageously, the controller can determine an offset parameter or criterion using historical data associated with one or more of a particular location, scenario, user, and / or pattern.

[0382] The control means can be configured to adapt a defined maneuver completion position according to an environmental signal indicating a change in at least one feature near the vehicle. Advantageously, the defined maneuver can be adapted during execution in response to detection of an actual change in the feature such as movement in the feature, and / or detection of a parameter of the feature that was not previously detected (for example, a gap or protrusion that was previously hidden or undetected).

[0383] The controller can comprise notification output means for outputting a notification signal for notifying the user. The control means can be configured to control the notification output means to notify the user of the determination by the control means of at least one selectable offset maneuver completion position. Advantageously, the offset and / or selection of the maneuver completion position can be displayed and optionally provided to the user.

[0384] The request signal can indicate a received signal indicating a user request. The signal indicating a user request can be received wired or wirelessly. Advantageously, in at least some instances, the user can request an offset or at least the characteristics of the offset.

[0385] The controller may comprise control means configured to selectively offset a defined maneuver completion position according to at least a part of the defined maneuver execution mode. Advantageously, the offset can be adapted to be appropriate for the mode. For example, the controller may be configured to adapt the offset according to a mode which is an in-vehicle mode or an out-of-vehicle mode. The controller may comprise control means configured to adapt the offset according to at least one of the following: ambient conditions near the vehicle (e.g., precipitation such as rain, temperature, light level, wind, etc.); terrain near the vehicle (e.g., road surface, off-road surface, smoothness of the road surface, etc.).

[0386] The controller may comprise control means configured to vary the magnitude of the offset. The magnitude may include an angle and / or a distance.

[0387] According to one aspect of the present invention, there is provided a system comprising the controller described above configured to output a maneuver signal, and actuator means for receiving a maneuver signal for causing the vehicle to execute a defined maneuver.

[0388] The system may comprise environment sensing means for determining the location of at least one feature near the vehicle.

[0389] The system may comprise receiver means for receiving a signal indicating a user request and outputting a request signal in response thereto.

[0390] According to one aspect of the present invention, there is provided a method of controlling the movement of a vehicle to execute a defined maneuver, comprising receiving an environment signal indicating the location of at least one feature near the vehicle, determining a free space according to the environment signal, defining at least one defined maneuver completion position of the vehicle within the free space, selectively offsetting the defined maneuver completion position within the free space, and outputting a maneuver signal to cause the vehicle to execute the defined maneuver to the defined maneuver completion position.

[0391] The method may include receiving a request signal indicative of a user request and selectively offsetting a defined maneuver completion position in response to the request signal.

[0392] The method may include selectively offsetting a defined maneuver completion position according to a feature indicated by an environmental signal.

[0393] The method may include notifying the user of the determination of at least one offset defined maneuver completion position, the offset being optionally selectable.

[0394] The 11th technology According to one aspect of the present invention, there is provided a controller configured to operably execute a maneuver defined in a transition stage in which control can be transferred to a user, in order to enable the vehicle to transition from a defined maneuver to a user-controlled post-maneuver movement of the vehicle.

[0395] According to one aspect of the present invention, there is provided a controller comprising: input means for receiving a user control request signal indicative of a user request for control; output means for outputting a maneuver signal for causing the vehicle to execute a defined maneuver to a defined maneuver completion position; and control means configured to control the output means to cause the vehicle to execute the defined maneuver, the control means being configured to determine a transition stage of the defined maneuver at which control can be transferred to the user upon receipt of the user request signal to enable the vehicle to transition from the defined maneuver to a user-controlled post-maneuver movement of the vehicle. Advantageously, the defined maneuver can be executed with control transferred to the user before the defined maneuver is completed up to the defined maneuver completion position.

[0396] A controller as described above, wherein the input means can include an electrical input for receiving a signal, The output means can include an electrical output for outputting a signal. The control means can comprise one or more control devices such as an electronic processing device.

[0397] The defined maneuvers can include a parking maneuver. The parking maneuver can include maneuvers during parking such as parking in a stationary position within a space. The parking maneuver can include maneuvers for releasing parking such as exiting the space from a stationary position. The defined maneuver completion position can include a parking position.

[0398] The transition phase can be defined between a transition position and the defined maneuver completion position, and the controller is configured to enable the transfer of control to the user at any point in the transition phase between the transition position and the defined maneuver completion position. Advantageously, the transition phase is defined between two positions so as to provide a plurality of transition positions, thereby enabling transfer at a plurality of positions.

[0399] The controller can comprise a notification output means for outputting a notification signal for notifying the user of the start of the transition phase. Advantageously, the user can be explicitly warned about the possibility of transferring control.

[0400] The control means can be configured to provide a gradual transfer to user control. Advantageously, assistance can be provided, for example, to enable a smooth transition during the gradual transfer of control.

[0401] The control means can be configured to determine the transition phase such that no lateral change in the movement of the vehicle is required during the transition phase to complete the defined maneuver to the defined maneuver completion position. Advantageously, the vehicle can be moved from any position in the transition phase to the defined maneuver completion position without requiring a lateral change (e.g., without requiring a change in the movement of the steering wheel or a reverse).

[0402] The control means may be configured to determine the transition phase so that no longitudinal change is required in the movement of the vehicle during the transition phase in order to complete the defined maneuver to the defined maneuver completion position. Advantageously, the controller can ensure that the vehicle can continue in a single longitudinal direction (e.g., forward without reversing) after the start of the transition phase so that only one continuous longitudinal movement of the vehicle is required (e.g., without the need for gear and / or longitudinal changes).

[0403] The controller may comprise input means for receiving an environmental signal indicating the location of one or more features near the vehicle. The control means is configured to determine the transition phase so as to correspond to a part of the defined maneuver after bypassing the features near the vehicle. Advantageously, the control means may be configured to prevent the transfer of control to the user before bypassing the feature, for example, to prevent or reduce contact between the vehicle and the feature.

[0404] The control means may be configured to be overridden at any point in the defined maneuver, including outside the transition phase (e.g., before the transition phase). Advantageously, the control means may be configured to allow the user to interrupt the defined maneuver at any juncture. The override can interrupt the defined maneuver to cancel the defined maneuver.

[0405] The control means may be configured to allow the transfer of control to the user during the transition phase without interrupting the defined maneuver. Advantageously, the control means can allow the transfer of control without completely canceling the defined maneuver.

[0406] The control means may be configured to transfer control of the output signal to the prime mover control means to the user, at least during the prime mover control part of the transition phase. Advantageously, the transition phase can define a specific part that can at least partially transfer the control of the speed or acceleration of the vehicle.

[0407] The control means can be configured to transfer the control of the output signal to the steering control means to the user, at least in the steering control part of the transition phase. Advantageously, the transition phase can define a specific part that can at least partially transfer the control of the vehicle's steering. The steering control part can be different from the prime mover control part. In at least some examples, the start of the permission for the transfer of the steering control can be non-simultaneous with the start of the permission for the transfer of the vehicle speed or acceleration control. For example, when further steering is still required to avoid features near the vehicle but longitudinal changes are not required, at least part of the control of the vehicle speed can be transferred to the user while keeping the steering control completely by the control means or using the control means.

[0408] The controller can include input means for receiving a request signal indicating a received signal indicating a user request. The request signal can indicate a signal received by wire or wirelessly indicating a user request from a user's mobile device or the like. Advantageously, this can enable the vehicle to be effectively commanded from the user's mobile device, such as remotely commanded by a user outside the vehicle.

[0409] The user can include passengers. The user can include the driver of the vehicle. The user can be inside the vehicle. The user can be outside the vehicle for at least part of the execution of a defined maneuver. The vehicle can include one or more non-driver passengers. In at least some examples, one or more users and / or passengers can be located inside and / or outside the vehicle.

[0410] If there is no user input during the transition phase, the control means can be configured to control the output means to control the vehicle to execute the defined maneuver to the defined maneuver completion position so as to transfer the control to the user after the completion of the defined maneuver. Advantageously, the defined maneuver can be completed without requiring a control transfer.

[0411] The control means may be configured to determine a free space. The control means may be configured to define at least one vehicle envelope within the free space, and the vehicle envelope is suitable for receiving the vehicle at a defined maneuver completion position. The control means may be configured to define at least one defined maneuver completion position of the vehicle within the free space.

[0412] The vehicle envelope may include a target position suitable for receiving the vehicle at a defined maneuver completion position. The vehicle envelope may include a defined maneuver completion position with a target. The vehicle envelope can be determined according to one-dimensional characteristics and / or measurements and / or estimations. The vehicle envelope can be determined according to an environmental signal indicating a length such as an unobstructed length between features, and the unobstructed length is sufficient to receive the vehicle at a defined maneuver completion position. The vehicle envelope can be determined according to two-dimensional characteristics and / or measurements and / or estimations. For example, the vehicle envelope can be determined according to an environmental signal indicating a length such as between features, where along that length there are no obstacles in a specific width or spread perpendicular to that length. The specific width or spread can correspond to at least the width or spread of the vehicle, such as the vehicle width when the vehicle is parked and the vehicle opening member is closed. The specific width or spread can correspond to at least the length of the vehicle, such as the vehicle length when the vehicle is parked and in a closed configuration at a vertical or parking lot or fishbone-shaped diagonal parking position. The vehicle envelope can include at least one dimension of the parking area, and the defined maneuver completion position can be a parking position. The vehicle envelope can correspond to a pre-defined parking space. The vehicle envelope may include a target length, area, or volume for receiving the vehicle at or above the defined maneuver completion position.

[0413] The control means may be configured to define at least two vehicle envelopes within the free space, and each vehicle envelope includes an individually defined maneuver completion position offset within the free space.

[0414] The two vehicle envelopes may be non - overlapping. Alternatively, the two vehicle envelopes may overlap.

[0415] The two vehicle envelopes can be adjacent to each other, parallel, and extend in their respective longitudinal directions. Alternatively, the two vehicle envelopes can extend along the same longitudinal axis, at which time the first vehicle envelope is longitudinally displaced along the longitudinal axis from the second vehicle envelope. In yet another alternative, the vehicle envelopes can be arranged with non - parallel longitudinal axes, such as a first vehicle envelope having a longitudinal axis perpendicular to the longitudinal axis of the second vehicle envelope.

[0416] According to one aspect of the present invention, there is provided a system comprising the controller described above configured to output a steering signal, and actuator means for receiving a steering signal for causing a defined steering to be executed on the vehicle.

[0417] The system may comprise user input means for receiving a user request for a control transfer.

[0418] The system can comprise notification means for notifying the user of the start of a transition phase.

[0419] The system may comprise receiver means for receiving a signal indicative of a user request for the movement of the vehicle and outputting a request signal in response thereto. The receiver means can be for receiving a wired and / or wireless signal indicative of the user request from a mobile device. Advantageously, it is possible to receive a user request transmitted from outside the vehicle in order to enable mode selection at least some of the time while the occupant is outside.

[0420] The system may comprise environmental sensing means for determining the location of one or more features near the vehicle and outputting an environmental signal indicative thereof.

[0421] According to one aspect of the present invention, there is provided a method for controlling the movement of a vehicle to perform a defined maneuver, the method comprising: controlling an output means using control means to cause the vehicle to perform the defined maneuver; determining a transition stage of the defined maneuver at which control can be transferred to a user upon receipt of a user control request signal; and transferring control to the user in response to receipt of the user control request signal during the transition stage to enable the vehicle to transition from the defined maneuver to the movement of the vehicle in a subsequent maneuver that is user-controlled.

[0422] The method may include enabling the vehicle to transition to user control before completing the defined maneuver.

[0423] The method may include receiving an environmental signal indicating the location of one or more features near the vehicle, bypassing the features near the vehicle during a pre-transition stage of the defined maneuver, and starting the transition stage after bypassing the features near the vehicle.

[0424] The method may include determining the location of one or more features using environmental sensing means.

[0425] The method may include starting the transition stage when the defined maneuver can be completed without changing the longitudinal movement of the vehicle.

[0426] The method may include receiving a signal from a mobile device indicating a user request to perform the defined maneuver.

[0427] The method may include overriding the control means at any stage of the defined maneuver.

[0428] The 12th technology According to one aspect of the present invention, there is provided a controller configured to operably continue a user-initiated maneuver as a defined maneuver in a vehicle.

[0429] According to one aspect of the present invention, there is provided a controller comprising: input means for receiving an input signal; steering output means for outputting a steering signal for causing a defined maneuver to be executed on a vehicle; control means configured to control the steering output means; notification output means for outputting a notification signal for notifying a user; and request input means for receiving a request signal indicating a user request for transferring control from the user to the control means in order to continue a maneuver initiated by the user as a defined maneuver, wherein the control means is configured to control the steering output means to execute a defined maneuver from a maneuver end position initiated by the user in response to the request signal. Advantageously, it is possible to cause the vehicle to execute a defined maneuver from an unspecified defined maneuver start position, such as corresponding to any maneuver end position initiated by the user or not being a predetermined defined maneuver start position.

[0430] A controller as described above, wherein the input means can include an electrical input for receiving a signal, the output means can include an electrical output for outputting a signal, the control means can comprise one or more control devices such as an electronic processing device.

[0431] The defined maneuver can include a parking maneuver. The parking maneuver can include maneuvers during parking, such as parking in a stationary position within a space. The parking maneuver can include maneuvers for releasing parking, such as exiting the space from a stationary position. The defined maneuver completion position can include a parking position.

[0432] The maneuver initiated by the user can include a parking maneuver. The parking maneuver initiated by the user can include a partial parking maneuver to an incomplete parking position (for example, not fully entering or exiting a parking space). The parking maneuver can include maneuvers during parking, such as parking in a stationary position within a space. The parking maneuver can include maneuvers for releasing parking, such as exiting the space from a stationary position. The maneuver end position initiated by the user can include a stationary vehicle position.

[0433] The control means may be configured to detect the execution of the operation by the user start in response to the input signal. The control means may be configured to control the notification output means to notify the user of the detection by the control means of the operation by the user start. Advantageously, the user may be warned about the possibility of performing a defined operation.

[0434] The control means may be configured to control the notification output means to automatically output a notification signal when the control means detects the operation by the user start. The control means may be configured to provide the continuation by the user as a defined operation. Advantageously, the possibility of performing a defined operation may be provided to the user without necessarily explicitly requesting or asking for it.

[0435] The control means may be configured to control the notification output means to output a notification signal regardless of the user request for the operation output means controlled by the control means. Advantageously, the controller may be configured to automatically output a notification signal without requiring activation of the control means by the vehicle user. For example, the user may otherwise not be aware of the possibility of performing a defined operation (such as in a particular scenario), so by enabling the notification signal to be output regardless of the user request, more useful defined operation possibilities may be provided to the user (compared to, for example, only what the user has explicitly requested beforehand).

[0436] The control means may be configured to control the notification output means at least partially in response to the input signal received before the operation by the user start up to the operation end position by the user start. Advantageously, the control means may be able to determine whether one or more defined operations are possible from the previous input signal (for example, if the previous input signal contained data that was no longer available via the corresponding input means).

[0437] The control means can be configured to suppress the notification output means, such as not notifying the vehicle user of the detection by the control means of the operation started by the user. Advantageously, the user can customize the control means. For example, in a scenario or type of scenario where the user does not want to execute a defined operation (for example, when the identification of the user is different, such as when the driver of the vehicle is different), the control means can be configured not to notify the user.

[0438] The control means can be configured to control the steering output means so as to make the vehicle follow a planned trajectory from the steering end position started by the user to the defined steering completion position. Advantageously, the control means can pre-determine the trajectory for the vehicle to execute the defined operation.

[0439] The planned trajectory may include at least a partial modification of the operation started by the user executed before the user request. Advantageously, at least a part of the operation started by the user can be modified or restored. For example, if the user enters or partially enters a parking space or location in an inappropriate vehicle angle in the parking operation started by the user for that space or location, the control means can be configured to arrange the vehicle more appropriately within that space or location and / or move the vehicle from the parking space or location (for example, to resume parking as a defined operation).

[0440] The control means can be configured to control the steering output means so as to make the vehicle execute at least a partial reversal of the operation started by the user executed before the defined operation.

[0441] The controller can include memory means for internally storing data, and the memory means is configured to store the data received via the input means.

[0442] The stored data can indicate the defined operations executed previously.

[0443] The control means may be configured to control the steering output means so as to cause the vehicle to execute at least a part of a defined steering that has been executed previously. The execution may be selective.

[0444] The control means may be configured to control the steering output means so as to cause the vehicle to execute at least a part of a reversal of a defined steering that has been executed previously. The reversal may include an opposite steering or a reverse. For example, the reversal may include a parking release steering of a previous parking steering, or a parking steering of a previous parking release steering.

[0445] The stored data may indicate a steering initiated by the user that has been executed previously.

[0446] The control means may be configured to control the notification output means so as to notify the user in response to a defined steering following a steering initiated by the user that has been executed previously.

[0447] The control means can be configured to control the steering output means to execute a defined steering from a user-defined start position of the defined steering, and the user-defined start position of the defined steering corresponds to the steering end position initiated by the user. The start position of the defined steering may include an intermediate steering position, such as partially entering and exiting an empty space.

[0448] The input means can be configured to receive a plurality of input signals from a plurality of input sources, and the plurality of input signals are selected from at least the following: An environmental signal indicating a feature near the vehicle, An operation signal indicating the operation of the vehicle, A steering signal indicating the steering of the user, An event signal indicating a vehicle event, and A location signal indicating a geographical location.

[0449] The controller may comprise input means for receiving a request signal indicative of a received signal indicative of a user request. The request signal may indicate a signal received, either wired or wirelessly, indicative of a user request from a user's mobile device or the like. Advantageously, this may enable the vehicle to be effectively commanded from the user's mobile device, such as remotely commanded by a user outside the vehicle.

[0450] The user may include an occupant. The user may include the driver of the vehicle. The user may be inside the vehicle. The user may be outside the vehicle, for example for performing at least part of a defined manoeuvre. The vehicle may include one or more non-driver occupants. In at least some examples, one or more users and / or occupants may be located inside and / or outside the vehicle.

[0451] The control means may be configured to determine a free space. The control means may be configured to define at least one vehicle envelope within the free space, the vehicle envelope being suitable for receiving the vehicle at a defined manoeuvre completion position. The control means may be configured to define at least one defined manoeuvre completion position of the vehicle within the free space.

[0452] The vehicle envelope may include a target position suitable for receiving the vehicle at a defined maneuver completion position. The vehicle envelope may include a defined maneuver completion position. The vehicle envelope can be determined according to one-dimensional characteristics and / or measurements and / or estimations. The vehicle envelope can be determined according to an environmental signal indicating a length such as an unobstructed length between features, and the unobstructed length is a length sufficient to receive the vehicle at the defined maneuver completion position. The vehicle envelope can be determined according to two-dimensional characteristics and / or measurements and / or estimations. For example, the vehicle envelope can be determined according to an environmental signal indicating a length such as between features, where along that length there are no obstacles for a specific width or spread perpendicular to that length. The specific width or spread can correspond to at least the width or spread of the vehicle, such as the vehicle width when the vehicle is parked and the vehicle opening member is closed. The specific width or spread can correspond to at least the length of the vehicle, such as the vehicle length when the vehicle is parked and in a closed configuration at a vertical or parking lot or fishbone-shaped diagonal parking position. The vehicle envelope can include at least one dimension of the parking area, and the defined maneuver completion position can be a parking position. The vehicle envelope can correspond to a pre-defined parking space. The vehicle envelope can include a target length, area, or volume for receiving the vehicle at or above the defined maneuver completion position.

[0453] The control means can be configured to define at least two vehicle envelopes within the free space, each vehicle envelope including an individually defined maneuver completion position offset within the free space.

[0454] The two vehicle envelopes can be non-overlapping. Alternatively, the two vehicle envelopes may overlap.

[0455] The two vehicle envelopes can be adjacent to each other, parallel, and extend in their respective longitudinal directions. Alternatively, the two vehicle envelopes can extend along the same longitudinal axis, where the first vehicle envelope is longitudinally displaced along the longitudinal axis from the second vehicle envelope. In yet another alternative, the vehicle envelopes can be arranged with non-parallel longitudinal axes, such as a first vehicle envelope having a longitudinal axis perpendicular to the longitudinal axis of the second vehicle envelope.

[0456] According to one aspect of the present invention, there is provided a system comprising the controller described above configured to output a steering signal and actuator means for receiving a steering signal for causing the vehicle to execute a defined maneuver.

[0457] The system may comprise environment sensing means for determining the location of one or more features near the vehicle and outputting an environment signal indicative thereof.

[0458] The system may include receiver means. The receiver means may be for receiving a user signal indicative of a user request to continue a user-initiated maneuver as a defined maneuver using steering output means controlled by control means. The receiver means may be for outputting a request signal in response to the receipt of the user signal. The receiver means may be for receiving a wired and / or wireless signal indicative of the user request from a mobile device or the like. Advantageously, it is possible to receive a user request transmitted from outside the vehicle in order to enable the execution of a defined maneuver at least in some cases while the occupant is outside the vehicle.

[0459] The system may comprise notification means for notifying the user.

[0460] According to one aspect of the present invention, there is provided a method of controlling the movement of a vehicle to execute a defined maneuver, comprising: executing a user-initiated maneuver to a user-initiated maneuver end position; To continue the operation started by the user as a defined operation, receiving a request signal indicating a user request to transfer control from the user to the control means; A method is provided that includes controlling the operation output means using the control means to output an operation signal for causing the vehicle to execute the defined operation from the operation end position started by the user.

[0461] The method may include receiving an input signal and outputting a notification signal for notifying the user.

[0462] The method may include detecting an operation started by the user using the control means in response to the input signal, notifying the user of the detection of the operation started by the user by the control means, and providing a transfer of control to the control means for continuing the operation started by the user as a defined operation.

[0463] The method may include enabling the vehicle to return to user control before the defined operation is completed up to the defined operation completion position.

[0464] The method may include determining the location of one or more features near the vehicle using environment sensing means.

[0465] The method may include receiving a signal indicating a user request to execute the defined operation from a mobile device.

[0466] For all technologies, according to one aspect of the present invention, a vehicle is provided that includes a controller according to one aspect of the present invention, or a system configured to execute a method according to one aspect of the present invention.

[0467] For all technologies, according to one aspect of the present invention, there is provided computer software configured to execute a method according to one aspect of the present invention when executed by processing means. The computer software can be stored on a computer-readable medium. The computer software can be tangibly stored on a computer-readable medium. The computer-readable medium can be non-transitory.

[0468] Any controller or plurality of controllers described herein may suitably comprise a control unit or computing device having one or more electronic processors. Thus, the system can comprise a single control unit or electronic controller, or the various functions of the controller can be embodied or hosted within various control units or controllers. As used herein, the terms "controller" or "control unit" are understood to include both a single control unit or controller and a plurality of control units or controllers within a control system that operate collectively to provide any described control function. To configure the controller, a suitable set of instructions can be provided, which, when executed, cause the control technology specified herein to be implemented in the control unit or computing device. The set of instructions can be suitably embedded in the one or more electronic processors. Alternatively, the set of instructions can be provided as software stored on one or more memories associated with the controller that are executed on the computing device. A first controller can be implemented within software executed on one or more processors. One or more other controllers can be implemented within software executed on one or more processors, optionally the same one or more processors as the first controller. Other suitable configurations can also be used.

[0469] Within the scope of this application, it is expressly intended that the various aspects, embodiments, examples, and alternatives described in the preceding paragraphs, claims, and / or the following description and drawings, particularly their individual features, can be obtained independently or in any combination. That is, all embodiments and / or features of any embodiment can be combined in any manner and / or combination, except where such features are incompatible. The applicant reserves the right to amend any of the originally filed claims or to file any new claims thereunder, including the right to amend the originally filed claims to depend on and / or incorporate any feature of any other claim not originally claimed in such form.

[0470] The 12 main technologies identified above can be used individually or together in any practical combination.

Brief Description of the Drawings

[0471] Next, one or more embodiments of the present invention will be described by way of example only with reference to the accompanying drawings.

[0472]

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Mode for Carrying Out the Invention

[0473] The 1st technology Figures 1a and 1b show a vehicle 1110 according to an embodiment of the present invention in two different scenarios. In both scenarios, the vehicle 1110 is shown in a defined maneuver completion position, each having a separation 1192 of the vehicle 1110 in a closed configuration from a feature 1125 near the vehicle 1110, as will be described later.

[0474] In FIG. 1(a), the vehicle 1110 is at a defined maneuver completion position where a defined maneuver has been executed in the occupant compartment mode. The defined maneuver completion position in FIG. 1a is intended to be a parking position of the vehicle 1110 through which the vehicle 1110 can enter and exit via a vehicle opening accessed by the occupant opening the vehicle opening member 1188. The vehicle 1110 is shown in relation to a feature 1125 near the vehicle 1110. The feature 1125 is, in this example, an object that is substantially parallel to the central longitudinal axis 1112 of the vehicle 1110 at the defined maneuver completion position, i.e., here substantially parallel to the side of the vehicle 1110, such as the left side here. The object is not limited to being the wall 1125 and can be, for example, a bollard, wall, or other object on, above, or adjacent to the ground of the vehicle 1110 such as a road. At the defined maneuver completion position, a separation 1192 is provided between the vehicle 1110 in the closed configuration. In FIG. 1(a), the separation 1192 is such that it enables the vehicle opening member 1188 to be opened and is shown here together with a separation 1190 between the vehicle 1110 in the open configuration of FIG. 1(a) and a feature shown as an adjacent object 1140 near it, here an adjacent vehicle, etc.

[0475] In FIG. 1(b), the vehicle 1110 is at a position intended to be a parking position of the vehicle 1110 where access to or through the vehicle opening is restricted. The vehicle 1110 is also shown here in FIG. 1(b) in relation to a feature 1125 near the vehicle 1110 and an adjacent object 1140, and the adjacent object 1140 and the feature 1125 are closer than in FIG. 1(a), whereby the space 1172 and the vehicle envelope 1174 between them are smaller. In the scenario shown in FIG. 1(b), the opening of the vehicle opening member 1188 is obstructed or at least restricted by the adjacent feature 1125 and object 1140, whereby the vehicle 1110 is shown in the closed configuration in FIG. 1(b). Thus, the occupant may have difficulty getting in and out of the vehicle or may even be prevented from doing so.

[0476] Embodiments of the present invention are aimed at ameliorating one or both of these problems.

[0477] In both cases shown in FIGS. 1(a) and (b), it will be appreciated that the defined maneuver can be a maneuver of the vehicle 1110 that is automatically executed by the vehicle 1110, i.e., executed under the control of one or more systems of the vehicle 1110. The defined maneuver can be regarded as being automatically or at least semi-autonomously executed by the vehicle 1110. In FIGS. 1(a) and 1(b), the defined maneuver can be a parking maneuver for controlling the vehicle 1110 to drive into a parking structure or parking location bounded by adjacent features 1125 and an object 1140.

[0478] To execute the defined maneuver, the vehicle 1110 is provided with environmental sensing means for determining the location of the feature 1125 near the vehicle 1110. The environmental sensing means can comprise one or more sensing devices or imaging devices. It will be appreciated that the one or more sensing devices emit radiation and can receive radiation reflected from features near the vehicle, such as an ultrasonic sensing device, but the present invention is not limited in this regard. Such environmental sensing means has a minimum distance at which the location of the feature 1125 can be accurately determined, for example, by the resolution of the imaging device or the signal-to-noise ratio of the sensing device.

[0479] The feature or features thereof sensed by the environmental sensing means can be such as to have an actual and / or perceived effect on the execution of the defined maneuver, such as physically and / or psychologically affecting the user experience of the execution of the defined maneuver.

[0480] In FIG. 1(a), the vehicle 1110 is at the defined maneuver completion position where the defined maneuver is executed in the in-vehicle mode. In FIG. 1(b), the vehicle 1110 is at the defined maneuver completion position where the defined maneuver is executed in the out-of-vehicle mode, which is intended to be a parking position of the vehicle 1110 where access to or through the vehicle opening is restricted.

[0481] In both situations, it may be advantageous for the operation or operations to be performed while the person controlling the vehicle 1110 is outside the vehicle 1110. For example, access to the vehicle 1110 may be restricted in FIG. 1(a) or FIG. 1(b) after performing a defined operation (e.g., where feature 1125 is a wall or other obstacle to opening the vehicle door). In some scenarios, subsequent execution of a defined operation, such as unparking the vehicle 1110, may be performed in different availability modes. For example, if the defined operation can be performed with the occupant positioned both inside and outside the vehicle 1110 up to the defined operation completion position in FIG. 1(a), and an adjacent object 1140 is moved or replaced by another object, thereby reducing the separation 1190 such that the vehicle opening member 1188 cannot be properly opened, the occupant-in-vehicle mode or modes may not become available.

[0482] In FIGS. 1(a) and 1(b), vehicle 1110 is shown as having a vehicle forward direction indicated by arrow 1114, particularly as can be understood from FIG. 1(b), and vehicle envelope 1174 can correspond to free space 1172. As will be further explained, the characteristics of free space 1172, such as dimensions, can be decisive for the compatibility of one or more modes for performing defined maneuvers. As explained herein, the control means need not distinguish or specifically differentiate between free space 1172 and vehicle envelope 1174. Thus, the evaluation of the compatibility of one or more modes can be based on only free space 1172 or vehicle envelope 1174 without requiring individual steps for each of free space 1172 and vehicle envelope 1174. For example, the control means is configured to determine that free space 1172 is of dimensions or a plurality of dimensions such that it essentially includes a vehicle envelope 1174 suitable for receiving vehicle 1110 at a defined maneuver completion position in a first mode, such as an out-of-vehicle occupant mode. The control means is configured to determine whether the dimensions or plurality of dimensions of free space 1172 are of sufficient size to enable access to and through one or more vehicle openings and to receive vehicle 1110 at a defined maneuver completion position such that it can also be suitable for a second mode, such as an in-vehicle occupant mode.

[0483] FIG. 2 shows a controller 1200 or control unit 1200 according to an embodiment of the present invention, such as may be included in vehicle 1110 of FIG. 1.

[0484] Controller 1200 comprises control means 1210, input means 1230, and output means 1240. In some embodiments, the controller comprises memory means 1220, such as one or more memory devices 1220 for internally storing data. Output means 1240 can include an electrical output for outputting a maneuver signal. The maneuver signal represents an instruction for vehicle 1110 to move.

[0485] Here, the input means 1230 is for receiving an environmental signal indicating features 1125, 1140 near the vehicle 1110. The control means 1210 is configured to control the output means 1240 so as to cause the vehicle 1110 to execute at least a part of the maneuver defined according to the environmental signal. Here, the controller includes a second output means for outputting a mode signal indicating a selectable mode. The control means is configured to output a mode signal indicating a plurality of modes. The mode for executing the defined maneuver is selectable by the user from a plurality of selectable modes according to the mode signal. In at least some examples, the second output means includes a notification output means. Advantageously, the user can be notified about the availability of one or more modes, and if available, the user can select a preferred mode. For example, before executing the defined maneuver to the defined maneuver completion position in FIG. 1(b), or the subsequent defined maneuver therefrom, the user can be notified about one or more occupant-out-of-vehicle modes for executing the defined maneuver. Similarly, before executing the defined maneuver to the defined maneuver completion position in FIG. 1(a) or from the defined maneuver completion position, the user can be notified about the availability of one or more modes of both the occupant-out-of-vehicle mode and the occupant-in-vehicle mode for executing the defined maneuver or that maneuver.

[0486] Here, the control means 1210 is configured to provide a mode signal indicating that there is no selectable mode in response to the vehicle envelope 1174 being inappropriate for receiving the vehicle 1110. Thus, the user is made aware by the notification that the vehicle envelope or free space has been identified but is inappropriate for executing the defined maneuver. For example, this is the case where the vehicle envelope is too small even for the occupant-out-of-vehicle mode of executing the defined maneuver (e.g., thereby the adjacent features 1125 and the object 1140 are too close to each other compared to FIG. 1(b) and do not have dimensions sufficient to receive or accommodate the vehicle 1110 even in a closed configuration).

[0487] To perform a defined maneuver, vehicle 1110 comprises environmental sensing means for determining the location of features near the vehicle 1110. The environmental sensing means may comprise one or more sensing devices or imaging devices. The one or more sensing devices can emit radiation and receive radiation reflected from features near the vehicle, such as an ultrasonic sensing device, although it will be understood that the invention is not limited in this regard. Such environmental sensing means has a minimum distance at which the location of the feature can be accurately determined, for example, by the resolution of the imaging device or the signal-to-noise ratio of the sensing device.

[0488] When entering the defined maneuver completion position (such as in FIG. 1(a) or FIG. 1(b)), the user typically applies the parking brake, turns off the engine, and stops the vehicle.

[0489] The control means 1210 may be formed by one or more electronic processing devices, such as an electronic processor. The processor can operably execute computer-readable instructions stored in one or more memory devices 1220. The control means 1210 is configured to control the output means 1240 to output a maneuver signal in response to an environmental signal, as will be described later. In some embodiments, the input means 1230 and the output means 1240 may be combined, such as by being formed by an I / O unit or an interface unit. For example, the controller 1210 may comprise an interface with a network forming the communication bus of the vehicle. The communication bus may be a communication bus such as Ethernet using a suitable communication protocol such as the Internet Protocol (IP), although embodiments of the invention are not limited in this regard.

[0490] Here, the input means 1230 includes an electrical input for receiving an environmental signal. The input means 1230 may include an electrical input for receiving a request signal. In at least some examples, the controller 1210 includes additional input means for receiving a request signal indicative of a received signal indicative of a user request. The request signal may indicate a wired or wirelessly received signal indicative of a user request from a user's mobile device or the like. Advantageously, this may enable the vehicle to be effectively commanded from the user's mobile device, such as being remotely instructed. The user request may include a mode selection.

[0491] The user can include passengers. The user can include the driver of the vehicle. The user can be inside the vehicle. The user can be outside the vehicle, for example, for at least part of the execution of a defined maneuver. The vehicle may include one or more non-driver passengers. In at least some examples, one or more users and / or passengers can be located inside and / or outside the vehicle.

[0492] It will be appreciated that the controller 1200 can be configured to perform a part of a defined maneuver. For example, the user can start a maneuver and then transfer control to the controller 1210 to complete the defined maneuver.

[0493] FIG. 3 shows a system 1300 according to an embodiment of the present invention. The system 1300 includes the controller 1210 described above and shown in FIG. 2.

[0494] System 1300 includes an environmental sensing means 1330 for determining information regarding the environment of vehicle 1110. In particular, the environmental sensing means 1330 is provided to determine the location of one or more features near vehicle 1110. The environmental sensing means 1330 is configured to output an environmental signal indicative of the determined features. The environmental signal may be environmental data that can be stored in a memory. The environmental sensing means may include one or more sensing devices such as an imaging device like a camera, or other sensing devices such as LIDAR, ultrasonic devices, sonar devices. The signals output by each of the sensing devices may be used to form a representation of the environment of vehicle 1110 that is stored in a memory for use by other systems of vehicle 1110.

[0495] Here, the vehicle 1110 includes environment sensing means for determining the location of at least one feature near the vehicle 1110 and outputting an environment signal indicating the same. The environment sensing means is configured to determine the location of features such as surface markings, which may be, for example, painted lines indicating the perimeter of a parking lot, or objects such as walls, pillars, or other vehicles with which the vehicle needs to be maneuvered in relation. The control means is configured to determine the absence of features, such as the separation between adjacent interfering features 1125 and objects 1140 shown here, in response to the environment signal. Accordingly, the control means is configured to determine a free space 1172 where no features such as interfering features are located. If the free space 1172 is large enough, the control means is configured to determine a vehicle envelope 1174 suitable for receiving the vehicle 1110 at a defined maneuver completion position. The vehicle envelope 1174 includes a target position suitable for receiving the vehicle 1110 at the defined maneuver completion position. Accordingly, the vehicle envelope 1174 here includes a defined maneuver completion position with a target. At least in this example, the vehicle envelope 1174 is determined according to one-dimensional characteristics and / or measurements and / or estimations. In particular here, the vehicle envelope 1174 is determined according to an environment signal indicating a length, such as the unobstructed length between features 1125, 1140. The unobstructed length is a length sufficient to receive the vehicle 1110 at the defined maneuver completion position, and the length here is the separation between features 1125, 1140 that is greater than the vehicle width at the defined maneuver completion position. The defined maneuver may include, for example, parking in a parking position.

[0496] The controller 1210 of the system 1300 herein comprises defined maneuvering means. The control means is configured to control the vehicle 1110 to perform at least one defined maneuver. The controller 1210 may comprise a defined maneuver controller for controlling one or more systems of the vehicle 1110 to perform one or more defined maneuvers. The defined maneuvering means may be associated with one or more actuators 1350 of the vehicle 1110. One or more actuators 1350 are provided to effect the movement of the vehicle 1110. The actuator may comprise one or more of a power steering mechanism configured to provide steering of the wheels of the vehicle 1110 in response to a signal received from the controller 1210. A second actuator may comprise a powered braking mechanism of the vehicle 1110 configured to actuate the brakes of the vehicle in response to a signal received from the controller 1210. A third actuator comprises the power train of the vehicle. The controller 1210 is configured to control the steering of the wheels 1180 for the feature.

[0497] The system 1300 shown here comprises prime mover control means 1320. The prime mover control means 1320 can be a prime mover control unit. The prime mover control means 1320 is configured to receive a steering signal output by the controller 1210. The prime mover control means 1320 is associated with one or more prime mover units of the vehicle 1110 that can form part of a power train (not shown) of the vehicle 1110. The prime mover unit can comprise one or more of an internal combustion engine of the vehicle 1110 and one or more electric machines. The power train is configured to provide power or torque to cause movement of the longitudinal axis of the vehicle 1110, i.e., movement of the vehicle 1100 forward or backward, in response to a steering signal received from the controller 1210. The prime mover control means 1320 is configured to control the application of torque to one or more wheels of the vehicle 1110 to move the vehicle 1110 within the longitudinal axis of the vehicle, i.e., to move the vehicle as a whole forward or backward. The torque can include driving torque, i.e., torque applied in the direction of a desired movement such as forward movement. The torque can also include braking torque, i.e., torque applied to resist the driving torque. In at least some embodiments, both driving torque and braking torque can be applied simultaneously to provide low-speed movement of the vehicle 1110. The braking torque can also be applied at least partially after the driving torque to effect accurate movement of the vehicle 1110. To achieve control of steering, the controller 1210 can communicate with the prime mover control means 1320. Thus, one or more actuators 1350 can control the direction and movement of the vehicle to perform a defined steering. The defined steering is performed in response to an environmental signal provided by the environmental sensing means 1330.

[0498] One or more defined steerings that can be performed by the vehicle 1110 under the control of the controller 1210 can include parking maneuvers such as a parking maneuver in which the vehicle 1110 is controlled to reach a parking position.

[0499] As shown here, system 1300 includes receiver means 1310 for receiving signal 1305. Signal 1305 can be received wirelessly from mobile device 1390 associated with the person responsible for vehicle 1110. Signal 1305 indicates a user request for the movement of vehicle 1110. Receiver means 1310 is configured to output the request signal to input means 1230 of controller 1210 as described above. The request signal can be output by receiver means 1310 to the communication bus of vehicle 1110 that can communicatively couple the components of system 1300.

[0500] Receiver means 1310 can be in the form of wireless unit 1310. Wireless unit 1310 can include a receiver for receiving wireless signal 1305 from mobile device 1390. In some embodiments, wireless unit 1310 can also include a transmitter or can be a transceiver 1310 configured to receive wireless signal 1305 transmitted from mobile device 1390 and transmit the signal to mobile device 1390. Wireless unit 1103 and mobile device 1390 can be configured to provide a wireless local area network, and two-way communication can be performed between wireless unit 1103 and mobile device 1390 via the wireless local area network. For example, wireless unit 1103 can be configured to communicate with mobile device 1390 via WiFi(RTM). In alternative embodiments, other wireless communication standards may be used for communication. In one example, communication between wireless unit 1103 and mobile device 1390 is provided via Bluetooth(RTM), although other protocols or standards may be contemplated.

[0501] The mobile device 1390 can be an electronic key fob associated with the vehicle 1110 and can be used, for example, to obtain an entry and start or power up the vehicle 1110. In other embodiments, the mobile device 1390 can be an electronic device associated with a person responsible for the vehicle 1100, such as a mobile phone, a tablet, a watch, a wearable electronic device, or other computing device associated with a person. The mobile device 1390 can receive user input indicating a desire to move the vehicle 1110. The user input can be provided in the form of a button or key press, activation of a graphically displayed icon, a gesture, or a voice command. Other forms of user input may be contemplated.

[0502] Figure 4 shows a method 1400 according to an embodiment of the present invention. The method 1400 is a method for controlling the movement of the vehicle 1110. The method 1400 can be formed by the controller 1210 and the system 1300 described above with reference to FIGS. 2 and 3. The method 1400 will be described with reference to FIG. 5 as an example that broadly corresponds to the situation shown in FIG. 1.

[0503] The method 1400 generally includes the following steps: a step 1410 of receiving, from the environment sensing means 1330, an environmental signal indicating features 1125, 1140 near the vehicle 1110, and, in response thereto, a step 1420 of determining the presence of an envelope suitable for receiving the vehicle in one or more modes of execution of a defined maneuver. The control means identifies 1430 whether a plurality of modes are appropriate. If a plurality of modes are appropriate, a mode signal indicating an execution mode suitable for executing the defined maneuver is output. At the time of mode selection 1435, the control means controls the execution of the defined maneuver 1440.

[0504] Referring to FIG. 4, an illustrated embodiment of method 1400 includes step 1410 of receiving an environmental signal from environmental sensing means 1330. Controller 1210 determines 1420 whether the environmental signal indicates one or more features 1125 near vehicle 1110 corresponding to an appropriate vehicle envelope. If there is no appropriate mode, the defined maneuver is not executed. In at least some examples, such non-execution or unavailability is communicated to the user (e.g., the user is notified that there is no appropriate vehicle envelope or available space, or that only inappropriate vehicle envelopes or available spaces have been detected).

[0505] In at least some examples, it will be appreciated that the defined maneuver can be executed without an explicit or individual mode selection by the user. For example, if only a single mode is available or appropriate, execution of defined maneuver 1440 can be performed in that mode by default. Similarly, in at least some examples, a general default mode for executing one or more defined maneuvers can be provided, such as a preferred mode when multiple modes may be available. The default mode can be adaptable, such as being programmable by the user and / or evolving or adapting (e.g., with the user's actions over a period of time) in a self-learning manner.

[0506] The mode can be explicitly selected via user input, such as selection via an interface. In at least some examples, the mode selection can be via user action. For example, if an out-of-vehicle passenger mode is available, selection of that mode can be achieved at least in part by the passenger moving from a location inside the vehicle to a location outside the vehicle. Such movement can be automatically detected, such as via the vehicle system (e.g., seat sensors, door sensors, motion sensors, etc.). Similarly, the selection can be via the vehicle system, such as actuation of the accelerator, gear selection, switches, brakes, indicators.

[0507] The controller 1210 can be configured to enable user adaptation. For example, the user can at least partially override, program, or adjust the controller 1210 with respect to one or more of the following: providing an angle offset, a tilt threshold for providing the angle offset, one or more locations where the angle offset is provided, the direction of the angle offset, and the angle of the angle offset. The controller 1210 can be configured to be manually overridden, programmed, or adjusted to adjust the output of the steering signal. Additionally, or alternatively, the controller 1210 can be configured to automatically or semi-automatically override, program, or adjust the output of the steering signal, such as by learning from user behavior, such as repetition of user actions, related to one or more of, for example, an input pattern, a geographical location, user identification (e.g., when vehicle 1110 is used by multiple users at non-concurrent times). For example, the controller 1210 can be configured not to provide a mode when the vehicle is placed in a specific location, such as a home or garage, where the user has previously overridden, canceled, or rejected that mode.

[0508] In FIG. 5, vehicle 1110 is shown as being located at a defined maneuver completion position within vehicle envelope 1174 defined within an empty space 1172 bounded by adjacent features 1125, 1140, similar to FIGS. 1(a) and 1(b). In FIG. 5, vehicle 1110 is shown at the defined maneuver completion position, where vehicle 1110 is in a closed configuration with a separation between vehicle 1110 and adjacent features 1125, 1140 respectively on each side of vehicle 1110. As shown here, the closed configuration of vehicle 1110 includes the folded position of movable protrusion 1182 of vehicle 1110, shown here as a side mirror. As shown here, the defined maneuvers executed to reach the defined maneuver completion position of FIG. 5 were executed on a vehicle in an occupant-outside mode. Here, the defined maneuvers into the position of FIG. 5 were executed with the occupant located outside the vehicle during at least the last part of the defined maneuvers. As will be appreciated, the dimensions of vehicle envelope 1174 defined by empty space 1172 are such that access to at least some vehicle opening members 1188 is not possible, or at least not fully openable. Thus, access to and from the vehicle openings by vehicle opening members 1188 is impeded. Further, the dimensions of vehicle envelope 1174 defined by empty space 1172 are such that the execution of the defined maneuvers may have been impeded or blocked by vehicle protrusions 1182 in an extended position, such as the extended position of vehicle protrusion 1182 shown in FIGS. 1(a) and 1(b). Thus, the execution of the defined maneuvers to reach the defined maneuver completion position of FIG. 5 included changing the position of movable protrusion 1182 before or during the defined maneuvers in response to environmental signals. Here, the mode of execution for executing the defined maneuvers includes a folded protrusion mode of the vehicle.

[0509] As a result of method 1400, the vehicle may be more favorably positioned or configured after execution of the defined maneuver. For example, it can prevent the occupants from being trapped in the vehicle or from damaging the vehicle and / or adjacent objects. It will also be understood that embodiments of the present invention are not limited to being useful in connection with defined maneuvers. It may be useful to provide a selectable mode for executing a portion of a maneuver as a defined maneuver even when parked or when being driven by a human driver. For example, identifying the modes available to the user can indicate the accessibility of the vehicle's openings and can assist the user in selecting the execution of the maneuver (e.g., the user can choose to manually execute a parking maneuver when notified that the in-vehicle occupant mode is available).

[0510] The 2nd technology Figures 7a, 7b, and 7c show a vehicle 2110 according to an embodiment of the present invention in three scenarios. In FIGS. 7a and 7b, the vehicle 2110 is shown as having a vehicle forward direction indicated by an arrow 2114, shown parallel to the central longitudinal axis 2112 of the vehicle 2110. In the scenario shown, the vehicle 2110 is shown at a defined maneuver start position. In the particular scenarios shown in FIGS. 7a, 7b, and 7c, it may be desirable to execute a defined maneuver to park the vehicle 2110 at a defined maneuver end position within the open space 2172.

[0511] In FIGS. 7a, 7b, and 7c, vehicle 2110 is shown adjacent to an empty space 2172, where the defined maneuvers are performed while the vehicle 2110 is executing the defined maneuvers for parking so as to enter the empty space 2172. In FIG. 7a, vehicle 2110 is shown in relation to a feature 2125 near the vehicle 2110. The feature 2125 is, in this example, an object that is parallel to the longitudinal axis 2112 of the vehicle 2110, i.e., at the defined maneuver completion position, and is generally parallel to the side of the vehicle 2110, such as the left side here. The object is not limited to being a wall 2125 and may be, for example, a bollard, a fence, a barrier, or another object that is there or adjacent thereto so as to form the boundary of the empty space 2172. As shown in FIGS. 7a, 7b, and 7c, another feature 2140 in the form of a stationary vehicle bounds the end of the empty space 2172. Similarly, another feature 2150 in the form of another stationary vehicle bounds the end on the opposite side of the empty space 2172. In each scenario, although not shown, it will be understood that there may be further boundaries or limitations to the empty space 2172 (e.g., in FIGS. 7b and 7c, there may be wall features similar to 2125 in FIG. 7a). Although shown here in a plan view, it will be understood that the depicted scenarios are three-dimensional.

[0512] As can be seen particularly from FIG. 7c, this can be ambiguous and / or there may be multiple options for orienting the vehicle towards the space indicated by the empty space 2172.

[0513] Embodiments of the present invention are aimed at improving such problems.

[0514] In the scenarios shown in FIGS. 7a, 7b, and 7c, it will be understood that the defined maneuvers can be automatically executed by vehicle 2110, i.e., the maneuvers of vehicle 2110 under the control of one or more systems of vehicle 2110. The defined maneuvers can be considered to be executed automatically or at least semi-autonomously by vehicle 2110. As shown in FIGS. 7a, 7b, and 7c, the defined maneuvers can be parking maneuvers for controlling vehicle 2110 to drive into a parking location.

[0515] As will be further explained, it may be advantageous for at least a part of the maneuvers to be executed while the person controlling vehicle 2110 is outside vehicle 2110. For example, access to vehicle 2110 may be restricted in FIG. 7a after the defined maneuvers are executed.

[0516] To execute the defined maneuvers, vehicle 2110 is equipped with environmental sensing means for determining the locations of features 2125, 2140 near vehicle 2110. The environmental sensing means may comprise one or more sensing devices or imaging devices. It will be understood that the one or more sensing devices can emit radiation and receive radiation reflected from features near the vehicle, such as an ultrasonic sensing device, but the invention is not limited in this regard. Such environmental sensing means has, for example, a minimum distance at which the location of feature 2125 can be accurately determined, depending on the resolution of the imaging device or the signal-to-noise ratio of the sensing device.

[0517] In the specific example shown here, vehicle 2110 includes a part of the environmental sensing means within or on vehicle movable protrusion 2182. For example, each side mirror or door mirror of vehicle 2110 can have a camera or the like mounted thereon or thereto.

[0518] FIG. 8 shows a controller 2200 or control unit 2200 according to an embodiment of the present invention, as included in vehicle 2110 of FIGS. 7(a) and 7(b).

[0519] The controller 2200 includes a control means 2210, an input means 2230, and an output means 2240. In some embodiments, the controller includes a memory means 2220 such as one or more memory devices 2220 for internally storing data. Here, the input means 2230 is for receiving environmental signals indicating features 2125, 2140, 2150 near the vehicle 2110.

[0520] The control means 2210 is configured to determine the orientation of the defined maneuver completion position of the vehicle 2110 according to the environmental signal. The output means 2240 is for outputting a possible defined maneuver completion position signal according to the determined orientation. Advantageously, the controller 2200 can determine the orientation of the defined maneuver completion position based on the context as indicated by the environmental signal.

[0521] Here, the controller 2200 includes a notification output means for outputting a notification signal indicating a possible defined maneuver completion position. The control means 2210 is configured to output a notification signal indicating a plurality of possible defined maneuver completion positions. In at least some examples, the defined maneuver completion position can be selected by the user from a plurality of selectable, possible defined maneuver completion positions according to the possible defined maneuver completion position signal. Advantageously, the user can be notified of the availability of one or more target defined maneuver completion positions, and if available, the user can select their preferred, target defined maneuver completion position. For example, the user may be provided with the possibility that the vehicle 2110 faces rearward in parallel as shown by the dashed line in FIG. 11c in the scenario of FIG. 7c.

[0522] In at least some examples, the control means 2210 is configured to provide a notification signal indicating that there is no possible defined maneuver completion position in response to a scenario (not shown) where the vehicle 2110 is not suitable for acceptance during the execution of a maneuver in which the free space 2172 is defined. Thus, the user is made aware by the notification that a free space has been identified but is inappropriate for the execution of the defined maneuver. For example, this may be the case where the free space is too small for the execution of the defined maneuver (e.g., such that the adjacent features 2125 and objects 2140, 2150 are too close to each other compared to FIG. 7a and do not have sufficient dimensions to receive or accommodate the vehicle 2110 even in a closed configuration).

[0523] The control means 2210 may be formed by one or more electronic processing devices such as an electronic processor. The processor can operably execute computer-readable instructions stored in one or more memory devices 2220. The control means 2210 is configured to control the output means 2240 to output a possible defined maneuver completion position signal in response to an environmental signal, as will be described later. In some embodiments, the input means 2230 and the output means 2240 may be combined, such as by being formed by an I / O unit or an interface unit. For example, the controller 2210 may include an interface with a network forming a communication bus of the vehicle. The interface bus may be an Internet Protocol (IP)-based communication bus such as Ethernet, but embodiments of the present invention are not limited in this regard. The input means 2230 may include an electrical input for receiving an environmental signal.

[0524] As shown here, the memory means 2220 can be used to store data from the input means 2230. For example, the memory means can store data regarding features 2125, 2140, or free space 2172 for future use. For example, if the occupants or users of the vehicle 2110 actively select (e.g., by entering one or more parameter inputs) or implicitly indicate (e.g., through repeated actions or usage patterns) preferences regarding the target-defined maneuver completion positions and / or orientations for one or more scenarios, the memory means can store data corresponding to the preferences to provide default and / or automatic target-defined maneuver completion positions and / or orientations in response to inputs (such as environmental signals and / or location signals, etc.) indicating such or similar scenarios that match the preferences.

[0525] Data can be stored before and during the execution of a defined maneuver for use during the execution of the defined maneuver. Additionally, or alternatively, data can be stored for use during subsequent defined maneuvers. For example, as shown by the dashed line, if data is stored before or during the execution of a defined maneuver to reach a defined maneuver completion position in any of FIGS. 11a to 11e, the stored data can be used for or during a subsequent defined maneuver, such as a parking release maneuver from the defined maneuver completion positions in FIGS. 11a to 11e. When stored data such as features 2125, 2140, 2150, etc. is used for at least part of the execution of a defined maneuver, the controller 2200 can perform checks regarding the validity or continued validity of the data. For example, the controller 2200 can corroborate the data with subsequent inputs from the environmental sensing means or another input, such as from another sensor or camera located in another part of the vehicle 2110, or another sensor or camera that can confirm the continued presence and / or location of features 2125, 2140, 2150, etc.

[0526] In at least some examples, the controller 2210 may include a second input means for receiving a request signal indicative of a received signal, such as a signal received wirelessly, that indicates a user request. In at least some examples, the request signal indicates a wirelessly received signal that represents a user request for movement of the vehicle 2110 to a desired defined maneuver completion position. The user request may be for the execution of a defined maneuver to a selected target defined maneuver completion position and / or orientation.

[0527] In at least some examples, the controller 2200 may include a maneuver output means. The maneuver output means may include an electrical output for outputting a maneuver signal. The maneuver signal represents an instruction for the vehicle 2110 to move. The instruction provided by the maneuver signal is provided to cause the vehicle 110 to execute a defined maneuver. The control means 2210 is configured to control the maneuver output means to cause the vehicle 2110 to execute at least a part of the defined maneuver in response to the environmental signal.

[0528] It will be appreciated that the controller 2200 may be configured to execute a part of the maneuver defined in a particular mode. For example, the user may initiate a maneuver and then transfer control to the controller 2210 to execute the defined maneuver to the defined maneuver completion position, at which time the execution mode is variable (e.g., between an in-vehicle mode and an out-of-vehicle mode) during the execution of the part of the defined maneuver.

[0529] FIG. 9 shows a system 2300 according to an embodiment of the present invention. The system 2300 includes the controller 2210 described above and shown in FIG. 8.

[0530] System 2300 includes an environmental sensing means 2330 for determining information about the environment of vehicle 2110. In particular, the environmental sensing means 2330 is provided for determining the location of one or more features near vehicle 2110. In at least some examples, a portion of the environmental sensing means is associated with one or more movable protrusions 2182, such as at least one sensor or camera mounted within or on a vehicle door mirror. The environmental sensing means 2330 is configured to output an environmental signal indicative of the determined features. The environmental signal may be environmental data that can be stored in a memory. The environmental sensing means may include one or more sensing devices, such as an imaging device such as a camera, or other sensing devices such as LIDAR, radar, ultrasonic devices, sonar devices. Signals output by each of the sensing devices may be used to form a representation of the environment of vehicle 2110 that is stored in a memory for use by other systems of vehicle 2110.

[0531] Here, the environment sensing means 2330 is configured to determine a location of a feature such as a surface marking, which may be, for example, a painted line indicating the perimeter of a parking lot, or an object such as a wall, a pillar, or another vehicle for which the vehicle needs to be maneuvered in relation to. The control means is configured to determine an absence portion of a feature, such as a separation between adjacent interfering features 2140, 2150 shown here, in response to the environment signal. Thus, the control means is configured to determine a free space 2172 where no feature such as an interfering feature is arranged. If the free space 2172 is large enough, the control means is configured to determine a vehicle envelope 2174 suitable for receiving the vehicle 2110 at a defined maneuver completion position. The vehicle envelope 2174 includes a target position suitable for receiving the vehicle 2110 at the defined maneuver completion position. Thus, the vehicle envelope 2174 here includes a defined maneuver completion position with a target. At least in this example, the vehicle envelope 2174 is determined according to one-dimensional characteristics and / or measurements and / or estimations. In particular here, the vehicle envelope 2174 is determined according to an environment signal indicating a length such as an unobstructed length between the features 2140, 2150. The unobstructed length is a length sufficient to receive the vehicle 2110 at the defined maneuver completion position, and the length here is the separation between the features 2140, 2150 that is greater than the vehicle length at the defined maneuver completion position. The defined maneuver may include, for example, parking at a parking position.

[0532] The environment sensing means 2330 is configured to determine the orientation of one or more nearby features, such as the orientation of adjacent vehicles 2140, 2150.

[0533] Here, the controller 2210 of the system 2300 comprises defined operating means. The control means is configured to control the vehicle 2110 to perform at least one defined maneuver. The controller 2210 may comprise a defined maneuver controller for controlling one or more systems of the vehicle 2110 to perform one or more defined maneuvers. The defined operating means may be associated with one or more actuators 2350 of the vehicle 2110. One or more actuators 2350 are provided to effect the movement of the vehicle 2110. The actuator may comprise one or more of a power steering mechanism configured to provide steering of the wheels of the vehicle 2110 in response to a signal received from the controller 2210. A second actuator may comprise a powered braking mechanism of the vehicle 2110 configured to actuate the brakes of the vehicle in response to a signal received from the controller 2210. A third actuator comprises the power train of the vehicle. The controller 2210 is configured to control the steering of the wheels 2180 with respect to the feature 2125. A fourth actuator 2350 comprises one or more mechanisms for changing the position of one or more movable protrusions 2182.

[0534] The system 2300 shown herein comprises prime mover control means 2320. The prime mover control means 2320 can be a prime mover control unit. The prime mover control means 2320 is configured to receive a steering signal output by the controller 2210. The prime mover control means 2320 is associated with one or more prime mover units of the vehicle 2110 that can form part of a power train (not shown) of the vehicle 2110. The prime mover unit can comprise one or more of an internal combustion engine of the vehicle 2110 and one or more electric machines. The power train is configured to provide power or torque to cause movement of the longitudinal axis of the vehicle 2110, i.e., movement of the vehicle 2100 forwards or backwards, in response to a steering signal received from the controller 2210. The prime mover control means 2320 is configured to control the application of torque to one or more wheels of the vehicle 2110 to move the vehicle 2110 within the longitudinal axis of the vehicle, i.e., to move the vehicle as a whole forwards or backwards. The torque can include drive torque, i.e., torque applied in a direction of a desired movement such as forwards. The torque can also include braking torque, i.e., torque applied to resist the drive torque. In at least some embodiments, both drive torque and braking torque can be applied simultaneously to provide low speed movement of the vehicle 2110. The braking torque can also be applied at least partially after the drive torque to effect precise movement of the vehicle 2110. To achieve control of steering, the controller 2210 can communicate with the prime mover control means 2320. Thus, one or more actuators 2350 can control the direction and movement of the vehicle to perform a defined steering. The defined steering is performed in response to an environmental signal provided by the environmental sensing means 2330.

[0535] One or more defined steerings that can be performed by the vehicle 2110 under the control of the controller 2210 can include a parking steering as shown in FIGS. 11a to 11e, where the vehicle 2110 is controlled to reach a parking position.

[0536] As shown herein, system 2300 includes receiver means 2310 for receiving signal 2305. Signal 2305 can be received wirelessly from mobile device 2390 associated with the responsible person of vehicle 2110. Signal 2305 indicates a user request for the movement of vehicle 2110 as noted above. Receiver means 2310 is configured to output a request signal to input means 2230 of controller 2210 as described above. The request signal can be output by receiver means 2310 to the communication bus of vehicle 2110 that can communicatively couple the components of system 2300.

[0537] Receiver means 2310 can be in the form of wireless unit 2310. Wireless unit 2310 can include a receiver for receiving wireless signal 2305 from mobile device 2390. In some embodiments, wireless unit 2310 can also include a transmitter or can be a transceiver 2310 configured to receive wireless signal 2305 transmitted from mobile device 2390 and transmit a signal to mobile device 2390. Wireless unit 2103 and mobile device 2390 can be configured to provide a wireless local area network, and bidirectional communication can be performed between wireless unit 2103 and mobile device 2390 via the wireless local area network. For example, wireless unit 2103 can be configured to communicate with mobile device 2390 by WiFi(RTM). In alternative embodiments, other wireless communication standards may be used for communication. In one example, the communication between wireless unit 2103 and mobile device 2390 is provided via Bluetooth(RTM), although other protocols or standards may be envisioned.

[0538] The mobile device 2390 can be an electronic key fob associated with the vehicle 2110 and can be used, for example, to obtain an entry and start or power up the vehicle 2110. In other embodiments, the mobile device 2390 can be an electronic device associated with a person responsible for the vehicle 2100, such as a cellular phone, a tablet, a watch, a wearable electronic device, or other computing device associated with a person. The mobile device 2390 can receive user input indicating a desire of a person to move the vehicle 2110. The user input can be provided in the form of a button or key press, activation of a graphically displayed icon, a gesture, or a voice command. Other forms of user input may be contemplated.

[0539] FIG. 10 shows a method 2400 according to an embodiment of the present invention. The method 2400 is a method for controlling the movement of the vehicle 2110. The method 2400 can be formed by the controller 2210 and the system 2300 described above with reference to FIGS. 8 and 9. The method 2400 will be described with reference to FIGS. 11(a), 11(b), 11(c), 11(d), and 11(e) as an example corresponding to the scenarios shown in FIGS. 7(a), 7(b), and 7(c).

[0540] Method 2400 generally includes step 2410 of receiving, from the environment sensing means 2330, an environment signal indicating features 2125, 2140 near the vehicle 2110, and step 2415 of, in response thereto, determining the orientation of a possible defined maneuver completion position for receiving the vehicle after execution of the defined maneuver. The control means determines 2415 whether the vehicle 2110 can be oriented within the free space 2172, such as when multiple defined maneuver completion positions or orientations are possible. For example, in the scenario shown in FIG. 7b, the control means determines whether the vehicle 2110 can be oriented parallel to the adjacent vehicles 2140, 2150 in an orientation facing forward and / or backward within the free space. If the defined maneuver is possible, a notification signal is output 2425 indicating which defined maneuver completion positions and orientations are possible (e.g., forward or backward and / or parallel or perpendicular), thereby providing a selection of a target defined maneuver completion position or orientation suitable for receiving the vehicle during execution of the defined maneuver. Optionally, upon request 2420 of the orientation or defined maneuver completion position, the control means controls the execution of the defined maneuver 2440.

[0541] Referring to FIG. 10, the illustrated embodiment of method 2400 includes step 2410 of receiving an environment signal from the environment sensing means 2330. The controller 2210 determines 2420 whether the environment signal indicates one or more features 2125 near the vehicle 2110 corresponding to a suitable free space 2172. If there is no suitable free space, the defined maneuver is not executed. In at least some examples, such non-execution or unavailability is communicated to the user (e.g., the user is notified that there is no suitable free space for the vehicle or that only unsuitable free spaces have been detected).

[0542] In at least some examples, it will be understood that defined maneuvers can be performed without explicit or individual selection by the user. For example, if only a single target defined maneuver completion position is available or most appropriate, the execution of the defined maneuver 2440 can be performed with respect to the defined maneuver completion position without an explicit selection between options or notification thereof. Similarly, in at least some examples, a general default orientation for performing one or more defined maneuvers can be provided, such as a preferred orientation when multiple orientations may be available. The default can be programmable by the user and / or adaptable, such as being self-learning to evolve or adapt (e.g., with the user's actions over a period of time). In at least some examples, there can be a default mode for performing defined maneuvers without an option or requirement to select an orientation. In other examples, the default mode can be a particular orientation, such as performing a perpendicular parking backward and moving the vehicle 2110 out of the empty space 2172 forward toward 2114 in the direction the vehicle entered, or vice versa, to facilitate unparking, or performing a backward parking in a particular orientation to easily access the cargo area or trunk of the vehicle 2110 from the entrance side of the empty space 2172.

[0543] A defined completion position and / or orientation of the maneuver can be explicitly selected via user input, such as a selection via an interface. In at least some examples, the selection of the defined completion position and / or orientation of the maneuver can be via a user action. For example, if a defined completion position and / or orientation of the maneuver is available, the selection of the defined completion position and / or orientation of the maneuver can be at least partially achieved by the user positioning the vehicle 2110 at a defined start position of the maneuver, with the vehicle 2110 offset in a preferred direction for steering the vehicle 2110 towards the defined completion position of the maneuver (e.g., thereby being able to start the defined maneuver while advancing the vehicle 2110 in the forward or rearward directions respectively). Additionally or alternatively, the selection can be via another system or interface such as a left / right signal indicator, a steering wheel, a touch screen, activation of a voice command, or the location of an occupant (e.g., an occupant opening a vehicle door, getting out of a vehicle seat, etc.).

[0544] In FIG. 11(a), the vehicle 2110 is shown in dashed lines at a possible defined completion position of the maneuver in a possible orientation after execution of the defined maneuver from the start position of FIG. 7(a) to the defined completion position of FIG. 11(a) according to an embodiment of the present invention. Such possible defined completion positions and / or orientations of the maneuver can be notified to the user prior to execution of the defined maneuver. Here, the defined maneuver is executed with respect to a target defined completion position, steering the vehicle 2110 parallel to adjacent vehicles 2140, 2150 in a defined parallel on-road parking maneuver.

[0545] Figure 11(b) shows a scenario that is substantially the same as that shown in Figure 7(b). In Figure 11(b), the control means oriented the vehicle 2110 in the same direction as the two adjacent vehicles 2140, 2150 within the empty space 2172 and identified the possibility and preference of facing in the same direction. As shown here, the vehicle 2110 executes the maneuvers defined under the control of the controller as shown in Figure 11b, and the starting position of Figure 7b is indicated by a dashed line. In an alternative example (not shown), the controller can provide the user with alternative orientation options, such as facing the vehicle forward from the empty space 2172 in a direction opposite to the direction shown.

[0546] Figures 11(c), 11(d), and 11(e) show scenarios that are substantially the same as the scenario shown in Figure 7(c). Figure 11e shows the possible defined maneuver completion positions for three examples with possible orientations. The user (not shown) is provided with the choice of possible defined maneuver completion positions and possible orientations. Also, when the user selects, the defined maneuver can be executed to the desired defined maneuver completion position as indicated by the dashed line in Figure 11(e).

[0547] Depending on the preference or particular embodiment, the controller can select or provide a default defined maneuver and / or orientation as shown in Figure 11c. It will be understood that the scenario shown in Figure 11(c) shows a further scenario for possible defined maneuvers. For example, another vehicle (not shown) could, here, execute a defined maneuver into the empty space 2172 between the already parked vehicle 2110 and the adjacent vehicle 2140 on the left. As shown in Figure 11(c), the execution of the defined maneuver to the offset defined maneuver completion position enables the empty spaces in Figures 7(c) and 11(c) to be used to accommodate two vehicles, which would not be possible otherwise (as shown, for example, in Figure 11(d)).

[0548] When the user 2195 enters the defined maneuver completion position, which is each parking position in FIGS. 11(a), 11(b), 11(c), 11(d), and 11(e), the user 2195 typically applies the parking brake, turns off the engine, and stops the vehicle 2110.

[0549] The controller 2200 may be configured to provide and / or select possible defined maneuver completion positions having possible orientations in response to environmental signals such as the characteristics of the available space 2172. For example, the controller 2200 may be configured to provide and / or select possible defined maneuver completion positions having possible orientations in response to the size of the available space 2172, the alignment of adjacent objects 2140, 2150, or other parameters associated with the available space 2172. In at least some examples, the possible defined maneuver completion positions having possible orientations may be limited (e.g., by the available space 2172 including dimensions that are inappropriate for access to / from one or more vehicle openings when oriented in a particular direction). Additionally, or alternatively, the controller 2200 may be configured to provide and / or select possible defined maneuver completion positions having possible orientations in response to one or more of the following other parameters: ambient environmental conditions (e.g., rain, temperature, brightness, darkness, time of day, day of the week, etc.), terrain conditions (e.g., road surface conditions, off-road surface conditions, gradient, etc.), the location of multiple vehicle occupants or multiple locations (e.g., the location of each vehicle occupant).

[0550] The controller 2210 can be configured to enable user adaptation. For example, the user may be able to at least partially override, program, or adjust the controller 2210 for one or more of the following: one or more available defined maneuver completion positions, possible orientations or multiple orientations, one or more inputs for determining available defined maneuver completion positions and / or possible orientations, selection means for selecting defined maneuver completion positions and / or possible orientations. The controller 2210 can be configured to be manually overridden, programmed, or adjusted to adjust the output of the maneuvering signal. Additionally, or alternatively, the controller 2210 can be configured to automatically or semi-automatically override, program, or adjust the output of the maneuvering signal, for example, by learning from user actions such as the repetition of user actions related to one or more of an input pattern, a geographical location, user identification (e.g., when vehicle 2110 is used by multiple users non-simultaneously). For example, the controller 2210 can be configured to automatically select a default orientation when the occupant 2195 is located at a specific location (e.g., with respect to vehicle 2110), or when vehicle 2110 is located at a specific location such as a home or garage where the user has previously performed a defined maneuver into a known empty space.

[0551] It will be understood that defined maneuvers other than those illustrated can be performed. It will be understood that the controller 2200 can be configured to allow the occupant to move inside and outside the location of the vehicle during the execution of the defined maneuver. For example, the controller 2200 can be configured to allow interruption or suspension of the defined maneuver, such as to allow the occupant 2195 to enter and exit the vehicle 2110 while the vehicle 2110 is stationary. In at least some examples, the vehicle 2110 can have steerable rear wheels. Or, the empty space can include a fishbone (diagonal) empty space 2172 or a vertical empty space (e.g., when vehicle 2110 is parked with its end facing straight).

[0552] As a result of method 2400, the vehicle may be more advantageously positioned or configured after the execution of the defined maneuver. It will also be understood that embodiments of the present invention are not limited to being useful in connection with defined maneuvers. It may be useful to provide an indication of a possible defined maneuver completion position and / or a possible orientation for executing a part of the defined maneuver even when parked or when being driven by a human driver.

[0553] The 3rd technology Figures 13a and 13b show a vehicle 3110 according to an embodiment of the present invention in two different scenarios. In Figure 13a, the vehicle 3110 is shown as having a forward direction of the vehicle indicated by arrow 3114 corresponding to a direction opposite to the downward slope or incline direction indicated by arrow 3116. In Figure 13b, the vehicle 3110 is shown as having a forward direction of the vehicle indicated by arrow 3114 corresponding to the direction of the downward slope or incline indicated by arrow 3116. In both scenarios, the vehicle 3110 is shown in a defined maneuver completion position with the wheels 3180 parallel to a feature 3125 near the vehicle 3110, as will be described later.

[0554] In Figure 13(a), the vehicle 3110 is in the completion position, where the defined maneuver is a maneuver that leaves the vehicle facing uphill, intending the parking position of the vehicle 3110. The vehicle 3110 is shown in relation to a feature 3125 near the vehicle 3110. The feature 3125 is, in this example, an object that is parallel to the longitudinal axis 3112 of the vehicle 3110, i.e., at the completion position, an object such as a curb that is generally parallel to a side of the vehicle 3110, here the left side. The object is not limited to being a curb 3125 and may be, for example, an edge of the road, a side ditch, a bollard, a sidewalk, a wall, or other object at or adjacent to the edge of the ground of the vehicle.

[0555] In Fig. 13(b), the vehicle 3110 is in the completed position, where the defined maneuver is a maneuver that leaves the vehicle facing downhill, intending the parking position of the vehicle 3110. The vehicle 3110 is also shown here in relation to a feature 3125 near the vehicle 3110.

[0556] In both cases shown in Figs. 13(a) and (b), it will be understood that the defined maneuver can be a maneuver of the vehicle 3110 that is automatically executed by the vehicle 3110, i.e., executed under the control of one or more systems of the vehicle 3110. The defined maneuver can be regarded as being automatically or at least semi-autonomously executed by the vehicle 3110. In Fig. 13(a), the defined maneuver can be a parking maneuver for controlling the vehicle 3110 to drive into the parking structure 3125 or the parking location. In Fig. 13(b), the defined maneuver can be a maneuver for moving the vehicle 3110 from the parking position among other vehicles 3140, 3150, in the overall direction of the arrow 3155, etc.

[0557] In both situations, it can be advantageous for the maneuver to be executed while the person controlling the vehicle 3110 is outside the vehicle 3110. For example, access to the vehicle 3110 can be restricted in Fig. 13(a) or Fig. 13(b) after the defined maneuver is executed (e.g., when the feature 3125 is a wall or other obstacle for opening the vehicle door).

[0558] To execute the defined maneuver, the vehicle 3110 is equipped with environmental sensing means for determining the location of a feature 3125 near the vehicle 3110. The environmental sensing means can comprise one or more sensing devices or imaging devices. It will be understood that the one or more sensing devices can emit radiation and receive the radiation reflected from features near the vehicle, such as an ultrasonic sensing device, but the present invention is not limited in this regard. Such environmental sensing means has a minimum distance at which the location of the feature 3125 can be accurately determined, for example, depending on the resolution of the imaging device or the signal-to-noise ratio of the sensing device.

[0559] When the vehicle enters the completion position, which is the parking position in FIGS. 13(a) and 13(b), the user typically applies the parking brake, turns off the engine, and stops the vehicle. If the parking brake is accidentally applied or unintentionally released, the vehicle 3110 may undesirably roll backward in FIG. 13(a) and forward in FIG. 13(b) in the downhill direction 3116. Even if the parking brake is not accidentally applied or unintentionally released, the vehicle 3110 may be parked in an undesirable state, such as violating the parking regulations in the area where the vehicle is parked on an inclined road.

[0560] Embodiments of the present invention are aimed at improving one or both of these problems.

[0561] FIG. 14 shows a controller 3200 or a control unit 3200 according to an embodiment of the present invention, such as that included in the vehicle 3110 of FIGS. 13(a) and 13(b).

[0562] The controller 3200 includes a control means 3210, an input means 3230, and an output means 3240. In some embodiments, the controller includes a memory means 3220, such as one or more memory devices 3220 for internally storing data. The output means 3240 may include an electrical output for outputting a steering signal. The steering signal represents an instruction for the vehicle 3110 to move. The instruction provided by the steering signal is provided to angularly offset the wheel 3180 at the completion position relative to the feature 3125 near the vehicle 3125. Here, the provided instruction is that the wheel 3180 is angled towards the feature 3125. The feature 3125 for which the wheel 3180 should be angled can be determined according to user input, such as user activation of an indicator (direction indicator). For example, the controller can determine the feature 3125 as the curb for which the wheel 3180 should be angularly offset according to user input. In other examples, the user can explicitly specify or request the direction of angular offset. In some examples, in all such defined maneuvers during parking or in all specific situations that meet defined parameters or criteria requiring an angular offset, no user action or input is required to determine whether an angular offset is required or in which direction it is required, such as when the controller 3200 automatically applies an angular offset. The control means 3210 can be formed by one or more electronic processing devices, such as an electronic processor. The processor can operably execute computer-readable instructions stored in one or more memory devices 3220. The control means 3210 is configured to control the output means 3240 to output a steering signal according to an environmental signal, as will be described later. In some embodiments, the input means 3230 and the output means 3240 can be combined, such as by being formed by an I / O unit or an interface unit. For example, the controller 3210 can include an interface with a network forming a communication bus of the vehicle.The interface bus may be an Internet Protocol (IP)-based communication bus such as Ethernet, but embodiments of the present invention are not limited in this regard.

[0563] The input means 3230 may include an electrical input for receiving environmental signals. The input means 3230 may include an electrical input for receiving a request signal. Here, the request signal indicates a wirelessly received signal representing a user request for the movement of the vehicle 3110.

[0564] In at least some examples, the controller 3210 may include a second input means for receiving a request signal indicating a received signal indicating a user request, such as a wirelessly received signal. For example, the request signal may be wirelessly transmitted from a mobile device and indicate a user request received by the controller or another device or system connected thereto (e.g., for the execution of a part of a specific defined maneuver).

[0565] It will be understood that the controller 3200 may be configured to execute a part of a defined maneuver. For example, the user can start the maneuver and then transfer control to the controller 3210 to complete the defined maneuver. In at least some examples, the controller 3210 is configured to angularly offset the wheels 3180 after the vehicle 3110 is entirely positioned at a parking position under user control or the like. The controller 3210 may be configured to indicate to the user the possibility of angularly offsetting the wheels and to control the output means in response to a user request therefor. In at least some examples, the controller may be configured to automatically angularly offset the wheels without requiring such an explicit user request. The part of the defined maneuver controlled by the controller may consist of angularly offsetting the wheels 3180.

[0566] FIG. 15 shows a system 3300 according to an embodiment of the present invention. The system 3300 includes the controller 3210 described above and shown in FIG. 14.

[0567] The system 3300 includes environmental sensing means 3330 for determining information regarding the environment of the vehicle 3110. In particular, the environmental sensing means 3330 is provided to determine the location of one or more features near the vehicle 3110. The environmental sensing means 3330 is configured to output an environmental signal indicating the determined features. The environmental signal may be environmental data that can be stored in a memory. The environmental sensing means may include one or more sensing devices such as imaging devices such as cameras, or other sensing devices such as LIDAR, radar, ultrasonic devices, sonar devices. Signals output by each of the sensing devices may be used to form a representation of the environment of the vehicle 3110 that is stored in a memory for use by other systems of the vehicle 3110.

[0568] Here, the environment sensing means 3330 is configured to determine the location of features such as surface markings, which can be, for example, painted lines indicating the perimeter of a parking lot, or objects such as walls and pillars, or other vehicles that the vehicle needs to be associated with and maneuvered in relation to. The control means is configured to determine the absence of features, such as the separation between interfering features (not shown), in response to the environmental signal. Thus, the control means is configured to determine a free space 3172 where features such as interfering features are not arranged. If the free space 3172 is large enough, the control means is configured to determine a vehicle envelope suitable for receiving the vehicle 3110 at a defined maneuver completion position. The vehicle envelope includes a target position suitable for receiving the vehicle 3110 at the defined maneuver completion position. In this way, the vehicle envelope can include a defined maneuver completion position with a target. In at least some examples, the vehicle envelope is determined according to one-dimensional characteristics and / or measurements and / or estimations. In particular, here, the vehicle envelope is determined according to an environmental signal indicating a length such as the unobstructed length between features (not shown). The unobstructed length is a length sufficient to receive the vehicle 3110 at the defined maneuver completion position, and this length is the separation between features that is greater than the vehicle length or width at the defined maneuver completion position. The defined maneuver can include, for example, parking in a parking position.

[0569] Here, the controller 3210 of the system 3300 comprises defined maneuvering means. The control means is configured to control the vehicle 3110 to perform at least one defined maneuver. The controller 3210 may comprise a defined maneuver controller for controlling one or more systems of the vehicle 3110 in order to perform one or more defined maneuvers. The defined maneuvering means may be associated with one or more actuators 3350 of the vehicle 3110. One or more actuators 3350 are provided to effect the movement of the vehicle 3110. The actuator may comprise one or more of a power steering mechanism configured to provide steering of the wheels of the vehicle 3110 in response to a signal received from the controller 3210. A second actuator may comprise a powered braking mechanism of the vehicle 3110 configured to actuate the brakes of the vehicle in response to a signal received from the controller 3210. A third actuator comprises the power train of the vehicle. The controller 3210 is configured to control the steering of the wheels 3180 with respect to the feature 3125. The controller 3210 is configured to control the application of a steering force to angle the wheels generally towards the feature 3125 when the vehicle is disposed at a defined maneuver completion position.

[0570] The system 3300 shown herein includes prime mover control means 3320. The prime mover control means 3320 can be a prime mover control unit. The prime mover control means 3320 is configured to receive a steering signal output by the controller 3210. The prime mover control means 3320 is associated with one or more prime mover units of the vehicle 3110 that can form part of a power train (not shown) of the vehicle 3110. The prime mover unit can include one or more of an internal combustion engine of the vehicle 3110 and one or more electric machines. The power train is configured to provide power or torque to cause movement of the longitudinal axis of the vehicle 3110, i.e., movement of the vehicle 3100 forward or backward, in response to a steering signal received from the controller 3210. The prime mover control means 3320 is configured to control the application of torque to one or more wheels of the vehicle 3110 to move the vehicle 3110 within the longitudinal axis of the vehicle, i.e., to move the vehicle forward or backward as a whole. The torque can include driving torque, i.e., torque applied in the direction of a desired movement such as forward movement. The torque can also include braking torque, i.e., torque applied to resist the driving torque. In at least some embodiments, both driving torque and braking torque can be applied simultaneously to provide low-speed movement of the vehicle 3110. The braking torque can also be applied at least partially after the driving torque to effect accurate movement of the vehicle 3110. To achieve control of steering, the controller 3210 can communicate with the prime mover control means 3320. Thus, one or more actuators 3350 can control the direction and movement of the vehicle to perform a defined steering. The defined steering is performed in response to an environmental signal provided by the environmental sensing means 3330.

[0571] One or more defined steerings that can be performed by the vehicle 3110 under the control of the controller 3210 can include a parking steering as shown in FIGS. 13(a) and 13(b), in which the vehicle 3110 is controlled to reach a parking position.

[0572] As shown herein, the system 3300 includes receiver means 3310 for receiving a signal 3305. The signal 3305 can be received wirelessly from a mobile device 3390 associated with a person responsible for the vehicle 3110. The signal 3305 indicates a user request for the movement of the vehicle 3110 as noted above. The receiver means 3310 is configured to output a request signal to the input means 3230 of the controller 3210 as described above. The request signal can be output by the receiver means 3310 to a communication bus of the vehicle 3110 that can communicatively couple the components of the system 3300.

[0573] The receiver means 3310 can be in the form of a wireless unit 3310. The wireless unit 3310 can include a receiver for receiving the wireless signal 3305 from the mobile device 3390. In some embodiments, the wireless unit 3310 can also include a transmitter or can be a transceiver 3310 configured to receive the wireless signal 3305 transmitted from the mobile device 3390 and transmit a signal to the mobile device 3390. The wireless unit 3103 and the mobile device 3390 can be configured to provide a wireless local area network and can communicate bidirectionally between the wireless unit 3103 and the mobile device 3390 via the wireless local area network. For example, the wireless unit 3103 can be configured to communicate with the mobile device 3390 via WiFi (RTM). In alternative embodiments, other wireless communication standards may be used for the communication. In one example, the communication between the wireless unit 3103 and the mobile device 3390 is provided via Bluetooth (RTM), although other protocols or standards may be contemplated.

[0574] The mobile device 3390 can be an electronic key fob associated with the vehicle 3110 and can be used, for example, to obtain entry and start or power up the vehicle 3110. In other embodiments, the mobile device 3390 can be an electronic device associated with a person responsible for the vehicle 3100, such as a cellular phone, a tablet, a watch, a wearable electronic device, or other computing device associated with a person. The mobile device 3390 can receive user input indicating a desire to move the vehicle 3110. The user input can be provided in the form of a button or key press, activation of a graphically displayed icon, a gesture, or a voice command. Other forms of user input may be envisioned.

[0575] As shown herein, the wheel 3180 can be angled such that it contacts the feature 3125 when the vehicle 3110 rolls uphill or downhill. In other examples, the wheel 3180 can be angled such that different wheels contact the feature 3125 as the vehicle 3110 rolls. For example, the front steerable wheels 3180 can be angled to allow or cause contact of the rear wheels with the feature 3125 when the vehicle rolls downhill.

[0576] FIG. 16 shows a method 3400 according to an embodiment of the present invention. The method 3400 is a method for controlling the movement of the vehicle 3110. The method 3400 can be formed by the controller 3210 and the system 3300 described above with reference to FIGS. 14 and 15. The method 3400 will be described with reference to FIGS. 17(a) and 17(b) as examples corresponding to the situations shown in FIGS. 1(a) and 1(b), respectively.

[0577] Method 3400 generally includes step 3410 of receiving, from environment sensing means 3330, an environment signal indicative of a feature 3125 near vehicle 3110, and, in response, step 3440 of controlling the angle of one or more wheels 3180 of vehicle 3110 relative to the longitudinal axis 3112 of vehicle 3110 to be angularly offset relative to feature 3125.

[0578] Referring to FIG. 16, the illustrated embodiment of method 3400 includes step 3410 of receiving an environment signal from environment sensing means 3330. Controller 3210 determines 3420 whether the environment signal corresponds to one or more features 3125 near vehicle 3110 for which it may be desirable for wheels 3180 to be angularly offset therefrom.

[0579] In the embodiment shown here, there is an optional additional step 3430, whereby the controller 3210 determines whether the vehicle 3110 and / or the ground proximal (e.g., below) the vehicle 3110 is inclined. The controller 3210 can determine the presence of an inclination and, in at least some embodiments, can determine the direction and / or magnitude of the inclination. Accordingly, the controller 3210 can determine whether a sufficient inclination exists, in which direction, and whether there is an appropriate feature 3125, such as a curb, near the vehicle 3110. Accordingly, the controller 3210 can output a corresponding steering signal in step 3440 to command the movement of the vehicle 3110, particularly the rotation of the wheels 3180 relative to the vehicle 3110. As noted above, in at least some embodiments, the controller 3210 can determine a preferred angular offset 3184 of the wheels 3180 and output a steering signal accordingly. In particular, the controller 3210 can output a steering signal to angle the vehicle wheels 3180 towards the feature 3125 in the downhill direction, such that when a movement of the vehicle, such as a roll from a completed steering position (e.g., FIGS. 13(a) or 13(b)), occurs, the wheels 3180 contact the feature 3125. The inclination can be determined in response to a vehicle sensor, such as a vehicle accelerometer (not shown). The inclination can be determined based on environmental signals, such as the determination of features relative to the vehicle 3110 (e.g., based on the slope of the feature 3125 near the vehicle and / or additional features such as vertical struts). The controller 3210 can be configured to determine the feature 3125 as a curb from a number of objects indicated by the environmental signal. In at least some examples, the controller determines the presence, direction, and / or magnitude of the inclination based on the location of the vehicle 3110 as indicated by data stored in the memory 3220 and / or a geographical location system of the vehicle 3110, such as a navigation system, and / or a mobile device proximal to or associated with the user of the vehicle.

[0580] In at least some examples, to provide a steering signal for angularly offsetting the wheel 3180, the controller 3210 may require the presence of an inclination exceeding a minimum threshold, such as exceeding about 1 degree from horizontal, preferably exceeding about 3 degrees from horizontal, although in at least some examples it may be a higher threshold such as exceeding about 5 degrees from horizontal. The minimum inclination threshold may correspond to regulatory requirements, such as the likelihood of the vehicle rolling and / or the need for wheel restraint when parking on an inclination of 3 degrees or more, for example. Other inclinations may be contemplated.

[0581] The controller 3210 may be configured to angularly offset the wheel 3180 by a minimum angle 184 of at least about 10 degrees, preferably at least about 15 degrees, optionally at least about 20 degrees, etc., with respect to the longitudinal axis 3112 of the vehicle 3110. The minimum angle 184 may correspond to at least the minimum angle of the wheel clamp regulatory requirements. In at least some examples, the offset angle 184 corresponds to the maximum angular offset of the wheel 3180 with respect to the longitudinal axis 3112 of the vehicle 3110, such as a full lock of the steerable wheel 3180.

[0582] The controller 3210 can be configured to enable user adaptation. For example, the user can at least partially override, program, or adjust the controller 3210 with respect to one or more of the following: providing an angle offset, a tilt threshold for providing the angle offset, the location or locations where the angle offset is provided, the direction of the angle offset, and the angle of the angle offset. The controller 3210 can be configured to be manually overridden, programmed, or adjusted to adjust the output of the steering signal. Additionally, or alternatively, the controller 3210 can be configured to automatically or semi-automatically override, program, or adjust the output of the steering signal, such as by learning from user behavior, such as repetition of user behavior, related to one or more of an input pattern, a geographical location, user identification (e.g., when the vehicle 3110 is used by multiple users non-simultaneously). For example, the controller 3210 can be configured not to angularly offset the wheel 3110 when the vehicle is placed at a specific location, such as a home or garage, where the user has previously overridden, canceled, or rejected an angle offset of the wheel 3180. In at least some examples, the controller 3200 can include self-learning, such as learning when and / or where to apply an angle offset.

[0583] The vehicle 3110 can be placed on an inclined road at a defined steering completion position, and it will be understood that in this inclination, the downhill direction is not necessarily parallel or aligned with the longitudinal axis 3112 of the vehicle. For example, the direction of the inclined road can have a lateral component, such as related to the camber of the road. In particular, in this specification, the controller can be configured to determine the rolling direction, or the direction in which the vehicle is likely to roll, such as under gravity, and the wheel 3180 can be angularly offset accordingly.

[0584] In at least some examples, the controller 3210 may be configured to apply braking means and / or engage with the gear or drive function of the vehicle 3110 to prevent or inhibit an unintentional roll of the vehicle when parked on an incline or the like.

[0585] FIG. 18 shows a side view of an exemplary vehicle according to one embodiment of the present invention, which is a car (private car, passenger car, non-service vehicle) as illustrated herein.

[0586] As a result of method 3400, the vehicle may be more advantageously positioned or configured after the execution of a defined maneuver. It will also be understood that embodiments of the present invention are not limited to being useful in relation to a defined maneuver. It may be useful to angularly offset the wheels 3180 even when parked or when being driven by a human driver.

[0587] The 4th technology FIG. 19 shows a vehicle 4110 according to one embodiment of the present invention.

[0588] In FIG. 19, the vehicle 4110 is shown at a defined maneuver start position before executing a defined maneuver to a defined parking position of the vehicle 4110 or the like. Here, the vehicle is shown with the longitudinal axis 4112 and has a forward direction of the vehicle indicated by the arrow 4114. Here, the ambient conditions near the vehicle are shown as precipitation 4136 such as rain. The ambient conditions are not limited to being precipitation and may include, for example, surface temperature such as temperature, air temperature, road temperature, precipitation such as rain, snow, hail, moisture, humidity, fog, haze, particles such as airborne particles, light level, wind, wind speed, wind direction.

[0589] It will be appreciated that the defined maneuvers can be those automatically performed by the vehicle 4110, i.e., performed under the control of one or more systems of the vehicle 4110. The defined maneuvers can be considered to be performed automatically or at least semi-autonomously by the vehicle 4110. In FIG. 19, the defined maneuvers can be parking maneuvers for controlling the vehicle 4110 to enter a parking structure or a parking location. In some of the last situations, it can be advantageous for the maneuvers to be performed while the person controlling the vehicle 4110 is outside the vehicle 4110. For example, access to the vehicle 4110 can be restricted after the defined maneuvers are performed.

[0590] The ambient conditions or a plurality of ambient conditions can be such that they have an actual and / or perceived effect on the execution of the defined maneuvers, such as physically and / or psychologically affecting the user's experience of the execution of the defined maneuvers.

[0591] Embodiments of the present invention are aimed at improving one or both of these problems.

[0592] FIG. 20 shows a controller 4200 or a control unit 4200 according to an embodiment of the present invention, such as that included in the vehicle 4110 of FIG. 19.

[0593] The controller 4200 includes a control means 4210, an input means 4230, and an output means 4240. In some embodiments, the controller includes a memory means 4220, such as one or more memory devices 4220 for internally storing data. The output means 4240 can include an electrical output for outputting a maneuver signal. The maneuver signal represents an instruction for the vehicle 4110 to move.

[0594] Here, the input means 4230 is for receiving a surrounding condition signal indicating the surrounding conditions 4136 near the vehicle 4110. The control means 4210 is configured to control the output means 4240 so as to cause the vehicle 4110 to execute at least a part of the defined operation according to the surrounding condition signal. Here, the control means 4210 is configured to control the output means 4240 so as to cause the vehicle 4110 to execute at least a part of the defined operation according to the vehicle movement control profile determined according to the surrounding condition signal. Therefore, the defined operation is caused to be executed on the vehicle 4110 in a controlled manner appropriate to the surrounding conditions.

[0595] The vehicle movement control profile includes speed parameters. Here, the speed parameters indicate primary speed parameters. The control means 4210 is configured to select a vehicle movement control profile according to the classification of the surrounding conditions 4136. Advantageously, the control means 4210 of the vehicle 4110 automatically selects parameters for the execution of a defined operation related to a predetermined category of one or more surrounding conditions. Here, the speed parameters indicate the acceleration and jerk of the vehicle 4110, and the jerk is the rate of change of the acceleration of the vehicle 4110. Therefore, the defined operation is caused to be executed on the vehicle 4110 with appropriate acceleration so as to execute the defined operation efficiently and / or without excessive acceleration of the vehicle 4110 or the user or its contents. For example, as shown here under the surrounding conditions 4136 of rain, the vehicle movement control profile is selected to provide a decrease in speed parameters such as a decrease in maximum speed, a decrease in maximum acceleration, and a decrease in maximum jerk. Therefore, when the possibility of a decrease in grip increases (for example, when rain wets the road or other surfaces under the wheels 4180), or at least when the possibility that the user perceives a decrease in grip increases, the controller 4200 adapts the execution of the defined operation to reduce the possibility that the vehicle 4110 slips, or at least to reduce the possibility that the user perceives that the vehicle 4110 slips. Therefore, the defined operation is caused to be executed on the vehicle 4110 at an appropriate speed, acceleration, and rate of change of acceleration that are physically and psychologically adapted to the surrounding conditions so as to be comfortable for the user.

[0596] It will be understood that other vehicle movement control profiles can be used for other ambient conditions. For example, the maximum speed parameter of the vehicle movement control profile corresponding to the wet ambient condition 4136 in FIG. 19 can be smaller than the maximum speed parameter of the vehicle movement control profile corresponding to the dry ambient condition. Therefore, the maximum speed parameter can be changed to adapt to the change in the ambient condition 4136. It will be understood that the vehicle movement control profile can be changed during the execution of a defined maneuver, for example when the ambient condition changes (for example, when it starts to rain only after the start of a defined maneuver).

[0597] To execute a defined maneuver, the vehicle 4110 is provided with environment sensing means for determining the location of features near the vehicle 4110. The environment sensing means may comprise one or more sensing devices or imaging devices. It will be understood that the one or more sensing devices can emit radiation and receive the radiation reflected from features near the vehicle such as an ultrasonic sensing device, but the present invention is not limited in this regard. Such environment sensing means has a minimum distance at which the location of the feature can be accurately determined, for example, depending on the resolution of the imaging device or the signal-to-noise ratio of the sensing device.

[0598] In at least some examples, it will be appreciated that the environmental sensing means provides an ambient condition signal, or at least an input therefor. For example, the environmental sensing means may comprise a sensor or imaging device capable of detecting precipitation and / or haze and / or fog. Additional or alternative inputs from or for the ambient condition signal may include one or more thermometers, one or more wipers, vehicle lighting, one or more of traction sensors. For example, when the wipers are activated manually and / or automatically, the control means 4210 can accordingly, for example, reduce the speed parameter to adapt to the vehicle movement control profile in rainy weather. Similarly, the lighting of the vehicle 4110 activated manually and / or automatically is used in at least some examples to determine the ambient conditions of the light level, and the control means 4210 is configured to adapt the output means 4240 accordingly (for example, to reduce the speed parameter in darker ambient conditions). The ambient condition signal may be at least partially responsive to ambient condition measurements. Additionally, or alternatively, the ambient condition signal may be at least partially responsive to estimated conditions. The estimated conditions may be derived from one or more other parameters or situations. For example, if the vehicle is at a geographical location (e.g., not inside a tunnel or a place without sunlight) during the day at that location, an indication of low light level may be regarded as indicating cloudy or overcast ambient conditions.

[0599] Upon entering a defined maneuver completion position (not shown), the user typically applies the parking brake, turns off the engine, and stops the vehicle.

[0600] The control means 4210 can be formed by one or more electronic processing devices such as an electronic processor. The processor can operably execute computer-readable instructions stored in one or more memory devices 4220. The control means 4210 is configured to control the output means 4240 to output a steering signal in response to an environmental signal, as will be described later. In some embodiments, the input means 4230 and the output means 4240 can be combined, such as by being formed by an I / O unit or an interface unit. For example, the controller 4210 can include an interface with a network forming a communication bus of the vehicle. The interface bus can be an Internet Protocol (IP)-based communication bus such as Ethernet, but embodiments of the present invention are not limited in this regard.

[0601] Here, the input means 4230 includes an electrical input for receiving an ambient condition signal. The input means 4230 can include an electrical input for receiving an environmental signal. The input means 4230 can include an electrical input for receiving a request signal. In at least some examples, the controller 4210 includes a second input means for receiving a request signal indicating a user request, such as a signal received wirelessly.

[0602] It will be understood that the controller 4200 can be configured to execute a defined part of the steering. For example, a user can start the steering and then transfer the control to the controller 4210 to complete the defined steering.

[0603] FIG. 21 shows a system 4300 according to an embodiment of the present invention. The system 4300 includes the controller 4210 described above and shown in FIG. 20.

[0604] System 4300 includes ambient condition sensing means 4332 for determining information about ambient conditions near vehicle 4110. The ambient condition sensing means 4332 is configured to output an ambient condition signal indicative of the determined ambient conditions. The ambient condition signal can be ambient condition data that can be stored in a memory. The ambient condition sensing means can include one or more sensing devices such as an environment sensing means (imaging device such as a camera, or other sensing devices such as LIDAR, radar, ultrasonic device, sonar device), thermometer, precipitation sensor, traction sensor, light sensor, etc. Signals output by each of the sensing devices can be used to form a representation of the ambient conditions near vehicle 4110 that is stored in a memory for use by other systems of vehicle 4110. In at least some examples, the ambient condition signal is at least partially responsive to the estimated conditions. The estimated conditions can be based on, for example, geographical location, time, day of the week, season, weather forecast, and / or another vehicle system in addition to or instead of the ambient condition sensing means.

[0605] Here, the vehicle includes environment sensing means for determining the location of at least one feature near the vehicle and outputting an environment signal indicating the same. The environment sensing means is configured to determine the location of features such as surface markings, which may be, for example, painted lines indicating the perimeter of a parking lot, or objects such as walls, pillars, or other vehicles that the vehicle needs to be associated with and maneuver around. The control means is configured to determine a feature-free area, such as the separation between interfering features (not shown), based on the environment signal. Thus, the control means is configured to determine an empty space where features such as interfering features are not arranged. If the empty space is large enough, the control means is configured to determine a vehicle envelope suitable for receiving the vehicle 4110 at a defined maneuver completion position. The vehicle envelope includes a target position suitable for receiving the vehicle 4110 at the defined maneuver completion position. In this way, the vehicle envelope includes the defined maneuver completion position with a target. In at least some examples, the vehicle envelope is determined according to one-dimensional characteristics and / or measurements and / or estimations. In particular, the vehicle envelope can be determined according to an environment signal indicating a length, such as the unobstructed length between features (not shown). The unobstructed length is a length sufficient to receive the vehicle 4110 at the defined maneuver completion position, and this length is the separation between features that is greater than the vehicle length or width at the defined maneuver completion position. The defined maneuver may include, for example, parking in a parking position.

[0606] Here, the controller 4210 of the system 4300 comprises defined maneuvering means. The control means is configured to control the vehicle 4110 to perform at least one defined maneuver. The controller 4210 may comprise a defined maneuver controller for controlling one or more systems of the vehicle 4110 in order to perform one or more defined maneuvers. The defined maneuvering means may be associated with one or more actuators 4350 of the vehicle 4110. One or more actuators 4350 are provided to effect the movement of the vehicle 4110. The actuat...

Claims

Claim 1 A controller comprising: input means for receiving an environmental signal indicating the location of one or more features near the vehicle; output means for outputting a steering signal for causing the vehicle to execute a defined steering to a defined steering completion position; control means configured to control the output means to cause the vehicle to execute the defined steering, the control means being configured to determine a planned trajectory for executing the defined steering within some of the trajectory portions up to the defined steering completion position within a defined steering completion position tolerance range for features near the vehicle, the control means being configured to determine the defined steering completion position tolerance range in response to the environmental signal. Claim 2 The controller according to claim 1, wherein the control means is configured to determine the number of trajectory portions according to the defined steering completion position tolerance range. Claim 3 The controller according to claim 1 or 2, wherein the control means is configured to inversely associate the number of the trajectory portions with the defined steering completion position tolerance range, such that when the defined steering completion position tolerance range is large, the defined steering is limited to fewer trajectory portions, and when the defined steering completion position tolerance range is small, the defined steering is limited to a larger number of trajectory portions. Claim 4 The controller according to any one of claims 1 to 3, wherein the control means is configured to determine both the defined steering completion position tolerance range and the number of the trajectory portions according to the environmental signal indicating vehicle envelope parameters of a vehicle envelope for receiving the vehicle. Claim 5 The controller according to claim 4, wherein the control means is configured to provide a larger defined steering completion position tolerance range for a vehicle envelope having larger vehicle envelope parameters. Claim 6 The controller according to claim 4 or 5, wherein the control means is configured to provide fewer trajectory portions for a vehicle envelope having larger vehicle envelope parameters. Claim 7 The controller according to any one of claims 1 to 6, wherein the control means is configured to determine at least one of the defined steering completion position tolerance range and the number of the trajectory portions according to the location of an occupant of the vehicle. Claim 8 The controller according to any one of claims 1 to 7, wherein the control means is configured to determine at least one of the defined maneuver completion position tolerance range and the number of the track portions according to a mode for executing the defined maneuver.

9. The controller according to any one of claims 1 to 8, wherein the number of the several track portions in the range where the defined maneuver is executed is the maximum number of the track portions.

10. The controller according to any one of claims 1 to 9, wherein the planned track is from the defined maneuver start position to the defined maneuver completion position, and the number of the track portions is the total number of the track portions between these positions.

11. The controller according to any one of claims 1 to 10, wherein the defined maneuver completion position tolerance range includes at least one of an angular range and a distance range with respect to the feature near the vehicle.

12. The controller according to any one of claims 1 to 11, wherein the control means is configured to determine each continuous track portion in the vehicle longitudinal direction opposite to the preceding track portion.

13. The controller according to any one of claims 1 to 12, comprising input means for receiving a request signal indicating a reception signal indicating a user request for the movement of the vehicle.

14. The controller according to any one of claims 1 to 13, wherein the defined maneuver is a parking maneuver.

15. A system, the controller according to any one of claims 1 to 14, configured to receive the environmental signal and output the maneuver signal, environmental sensing means arranged to determine the location of one or more features near the vehicle, and actuator means for receiving the maneuver signal for causing the vehicle to execute the defined maneuver.

16. The system according to claim 15 when dependent on claim 13, comprising receiver means for receiving a signal indicating a user request for the movement of the vehicle and outputting the request signal accordingly.

17. The system according to claim 15 or 16, comprising user input means for receiving user input for configuring the control means to determine at least one of the defined maneuver completion position tolerance range and the number of the track portions.

18. Location input means for receiving a location input for configuring the control means to determine at least one of the defined maneuver completion position tolerance range and the number of the track portions according to a location parameter, the system according to any one of claims 15 to 17.

19. A method of controlling the movement of a vehicle to execute a defined maneuver to a defined maneuver completion position, comprising: Receiving an environmental signal indicating the location of one or more features near the vehicle; Determining a defined maneuver completion position tolerance range according to the environmental signal; Determining a planned trajectory for executing the defined maneuver within some track portions up to the defined maneuver completion position within the defined maneuver completion position tolerance range for a feature near the vehicle; Outputting a maneuver signal for causing the vehicle to execute the defined maneuver.

20. The method according to claim 19, comprising determining the number of track portions according to the defined maneuver completion position tolerance range.

21. Including inversely associating the number of the track portions with the defined maneuver completion position tolerance range, whereby when the defined maneuver completion position tolerance range is large, the defined maneuver is executed within a smaller number of track portions, and when the defined maneuver completion position tolerance range is small, the defined maneuver is limited to a larger number of track portions, the method according to claim 19 or 20.

22. Determining both the defined maneuver completion position tolerance range and the number of the track portions according to the environmental signal indicating that a vehicle envelope parameter of a vehicle envelope for receiving the vehicle exceeds a threshold value, the method according to any one of claims 19 to 21.

23. The method according to any one of claims 19 to 22, including providing a larger defined maneuver completion position tolerance range for a vehicle envelope having a larger vehicle envelope parameter.

24. A vehicle comprising a controller according to any one of claims 1 to 14 and a system configured to execute the method according to any one of claims 15 to 18 or any one of claims 19 to 22.

25. When executed by a processing means, it is configured to execute the method according to any one of claims 19 to 22, and optionally, computer software stored on a computer-readable non-transitory medium.

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