Apparatus and method for controlling vehicle movement

Abstract

To control performance of a defined manoeuvre by a vehicle.SOLUTION: A controller is provided, comprising: input means for receiving an environment signal indicative of a feature in a vicinity of a vehicle; output means for outputting a manoeuvre signal to cause a vehicle to perform a defined manoeuvre; and control means arranged to provide at least one mode for performing at least a portion of the defined manoeuvre, the mode being 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 being 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 exclusively, to controlling the execution of defined maneuvers by a vehicle. Aspects of the present invention relate to controllers, systems, methods, vehicles, and computer software.

[0002] The present disclosure also relates to determining the orientation of a completed position of a vehicle, and particularly, but not exclusively, to determining the orientation of a defined maneuver completed position of a vehicle. Aspects of the present invention relate to controllers, systems, methods, vehicles, and computer software. [Background technology]

[0003] Vehicles are known to perform defined maneuvers, such as automatic or semi-autonomous parking maneuvers. A 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 spot or when the owner has eyes on a parking spot. 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 sensing means is used to determine the location of features near the vehicle, such as, but not limited to, markings, walls, posts, other vehicles, etc. The vehicle can then be commanded, such as via a mobile device or other input medium, to move to a location to be parked relative to the feature. For example, it may be desired for the vehicle to move into a parking space surrounded by the feature. To prevent the vehicle from contacting the object, the environmental sensing 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 may be reversed relative to the feature until an appropriate separation distance is determined by the environmental sensing means. If the space is large enough to accommodate the vehicle, the vehicle is parked in the center of the space, e.g., positioned in the center of a garage. Once the vehicle reaches a fully parked position, the vehicle is switched off, typically with the parking brake applied.

[0005] Features surrounding a parking space may prevent access to or from a vehicle. For example, a wall adjacent to a parking space may prevent the vehicle door from opening, preventing or preventing access through that door.

[0006] A driver's preference may be to keep the vehicle's steering wheels straight when parking, for example to look tidy or to prevent the wheels from sticking out to the side. In other situations, it may be preferable or even necessary to restrain the wheels on sloping terrain with any gradient.

[0007] The defined maneuvers are typically performed in a variety of ambient conditions, regardless of weather or lighting.

[0008] Features surrounding a parking space may prevent a vehicle from accessing the space. For example, the parking space may be too narrow to allow a vehicle to maneuver in or out of the parking space with sufficient clearance, or may be too narrow to accommodate the vehicle (e.g., narrower than the vehicle's maximum width).

[0009] The defined maneuvers can be performed on a variety of terrains, such as different ground types or smoothness.

[0010] Sometimes, a driver prefers the vehicle to be neatly parked and wants the exact parking position of the vehicle. Often, a driver prefers to perform a defined maneuver quickly.

[0011] The vehicle may be commanded to perform the maneuver remotely, for example, via a mobile device that receives user input to command the maneuver, or the vehicle may be instructed to perform the maneuver together with a user within the vehicle.

[0012] Executing a maneuver generally moves the vehicle from a starting position, such as outside a parking space, to a completed position, such as inside the parking space. When the vehicle reaches the fully parked position, the user can typically switch the vehicle off with the parking brake applied.

[0013] Once the vehicle has completed the defined maneuver, the user can take control of the vehicle, including manually driving it. When the vehicle has reached a perfect parking position, the user can usually switch the vehicle off with the parking brake applied. Summary of the Invention

[0014] It is an aim of embodiments of the present invention to at least alleviate one or more of the problems of the prior art.

[0015] Aspects and embodiments of the present invention provide controllers, systems, methods, vehicles, and computer software as set out in the accompanying claims.

[0016] First Technology According to one aspect of the present invention, a controller is provided that is configured to operatively provide at least one mode for executing a defined maneuver in response to an environmental signal.

[0017] According to one aspect of the present invention, there is provided a controller comprising: input means for receiving environmental signals indicative of a position of one or more features near the vehicle; output means for outputting maneuver signals for causing the vehicle to perform a defined maneuver; and control means configured to control the output means, the control means configured to provide at least one mode for performing at least a portion of the defined maneuver, the mode being selectable from a plurality of modes including at least one mode corresponding to a passenger in-vehicle mode and at least one mode corresponding to a passenger out-vehicle mode, the mode being selectable in response to environmental signals indicative of a vehicle envelope appropriate for the mode. Advantageously, the controller may cause the vehicle to only provide or realize a mode or modes for performing the defined maneuver appropriate for a particular vehicle envelope.

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

[0019] The defined maneuver may include a parking maneuver. The parking maneuver may include a park-in maneuver, such as parking in a stationary position within a space. The parking maneuver may include an unpark maneuver, such as driving from a stationary position out of a space. The defined maneuver completion position may include a park position.

[0020] The passenger in-vehicle mode may correspond to an environmental signal indicating that the vehicle envelope is suitable to accept a vehicle and open a vehicle opening at the accepted vehicle location. The accepted vehicle location may correspond to a defined maneuver completion position. The passenger out-vehicle mode may correspond to an environmental signal indicating that the vehicle envelope is suitable to accept a vehicle but is not suitable to open a vehicle opening at the accepted vehicle location. The vehicle opening may include at least one of a vehicle door, a vehicle roof, a vehicle boot or trunk, a vehicle bonnet or hood, a frunk, etc. Advantageously, the provided mode or modes correspond to ensure that one or more vehicle openings within each vehicle envelope are properly available for use when use of a vehicle opening, such as for access, is necessary or desired. For example, if the defined maneuver is a parking maneuver and the defined maneuver completion position is or will be such that an occupant is prevented or unable to exit the vehicle, the occupant may be provided with the passenger out-vehicle mode. Advantageously, such measures can prevent or at least mitigate completion of a defined maneuver up to a defined maneuver completion position where occupant access to or through the vehicle opening is undesirably obstructed.

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

[0022] The control means may be configured to not allow selection of the occupant in-cabin mode when the environmental signal indicates that the vehicle envelope is not suitable for opening the vehicle opening at the accepted vehicle position. Advantageously, not allowing selection of the occupant in-cabin mode for an unsuitable vehicle envelope may prevent 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 not be able to exit the vehicle through the opening.

[0023] The vehicle envelope may include a target position suitable for accepting the vehicle at the defined maneuver completion position. The vehicle envelope may include the target defined maneuver completion position. The vehicle envelope may be determined in response to one-dimensional characteristics and / or measurements and / or estimations. The vehicle envelope may be determined in response to environmental signals indicating a length, such as an unobstructed length between features, where the unobstructed length is long enough to accept the vehicle at the defined maneuver completion position. The vehicle envelope may be determined in response to two-dimensional characteristics and / or measurements and / or estimations. For example, the vehicle envelope may be determined in response to environmental signals indicating a length, such as between features, where no obstacles are present along that length and at a particular width or extent perpendicular to that length. The particular width or extent may correspond to at least the width or extent of the vehicle, such as the width of the vehicle when the vehicle is parked and in a closed configuration, such as with the vehicle opening closed. The particular width or extent may correspond to at least the length of the vehicle, such as the length of the vehicle when the vehicle is parked and in a closed configuration, such as in a vertical, parking lot, or fishbone-shaped, angled parking position. The vehicle envelope can include at least one dimension of the parking area, and the accepted 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 accepting the vehicle at or above the defined maneuver completion position.

[0024] The control means may be configured to determine a vacant location. The control means may be configured to define at least one vehicle envelope within the vacant location, the vehicle envelope 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 for the vehicle within the vacant location. In at least some examples, the vehicle envelope may correspond to the vacant location.

[0025] The control means may be configured to define at least two vehicle envelopes within the void, each vehicle envelope including a separately defined maneuver completion position offset within the void.

[0026] The two vehicle envelopes may be non-overlapping, or the two vehicle envelopes may be overlapping.

[0027] The two vehicle envelopes can be adjacent to each other and extend parallel along their respective longitudinal axes. Alternatively, the two vehicle envelopes can extend along the same longitudinal axis, with the first vehicle envelope 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 the first vehicle envelope having its longitudinal axis perpendicular to the longitudinal axis of the second vehicle envelope.

[0028] The defined maneuver completion position may include a central position within the void. The defined maneuver completion position may include a central position within the vehicle envelope, such as a vehicle central longitudinal axis centered within the vehicle envelope (e.g., equidistant from each side). Alternatively, the defined maneuver completion position may include an offset position, for example, the vehicle (and vehicle central longitudinal axis) is offset laterally (e.g., toward the left or right side of the vehicle envelope or void). Similarly, the axial midpoint of the vehicle may be axially centered within the void and / or vehicle envelope or may be offset therein.

[0029] The controller may comprise a second output means for outputting a mode signal indicative of a plurality of selectable modes, and a mode for performing the defined maneuver is selectable from the plurality of selectable modes by a user in response to the mode signal. The second output means may include a notification output means. Advantageously, the user may be notified of the availability of one or more modes, and, if available, the user may select a preferred mode.

[0030] The controller may comprise a second input means for receiving a request signal indicative of a user request to select a mode when multiple modes are selectable. Advantageously, explicit user selection of a mode may be achieved. The request signal may represent a signal received wired or wirelessly indicative of a user request, such as from a user's mobile device. Advantageously, this may allow the vehicle to be effectively commanded, such as remotely, from the user's mobile device.

[0031] The control means may be configured to not offer selectable modes when environmental signals indicate that the vehicle envelope is inappropriate for executing the defined maneuver, advantageously preventing selection of an inappropriate mode.

[0032] The control means may be configured to prevent output of a maneuver signal from causing the vehicle to perform the defined maneuver when the environmental signal indicates that the vehicle envelope is unsuitable to accommodate the vehicle. Advantageously, execution of an inappropriate mode may be prevented.

[0033] The second output means may be configured to provide a mode signal indicating that no modes are available, corresponding to the vehicle envelope being inappropriate for accommodating the vehicle. Advantageously, the user may be made aware by a 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 if the vehicle envelope is too small even in the passenger out mode for the execution of the defined maneuver.

[0034] The control means may be configured such that the selectable modes are variable during the performance of the defined maneuver. Advantageously, this may enable a user to switch between modes as desired without canceling or aborting the defined maneuver. For example, when unparking from a position where access to an opening in the vehicle is obstructed, the user may be able to initiate the unpark defined maneuver performed in passenger-out mode, and then (e.g., after a passenger has entered the vehicle while the defined maneuver is being performed) switch modes to complete the defined maneuver in passenger-in 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 execution of a defined maneuver, such as throughout the defined maneuver, and / or before and / or after initiation of the defined maneuver. For example, at least a minimum separation may be provided at a defined maneuver completion position.

[0036] The open position of the opening member may include a fully open position. The fully open position may correspond to a maximum open position of the opening member. The open position may include a partially open position. The partially open position may correspond to a stable open position. For example, the opening member may include a door having one or more biased open positions, the partially open position being an intermediate biased open position between the fully open position and the closed position. In at least some examples, a single mode may be provided corresponding to the maximum open position of the opening member, thereby allowing the opening member to optionally be partially open (e.g., according to user preference). In other examples, a single mode may be provided corresponding to a partially open position (e.g., the user may be responsible for not fully opening the opening member if this would prevent full opening). In yet another example, separate modes may be provided for each of the partially open and fully open states.

[0037] According to one aspect, 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 location of one or more features near the vehicle and outputting environmental signals indicative thereof. Advantageously, the system controls the provision of mode selectability.

[0038] The system may comprise actuator means for receiving a maneuver signal for causing the vehicle to perform the 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 signals indicative of user requests for vehicle movement and for outputting request signals in response. The receiver means may be for receiving wired and / or wireless signals indicative of user requests from a mobile device. Advantageously, user requests originating from outside the vehicle may be received to enable mode selection at least some of the time while an occupant is outside.

[0040] The controller may be configured to control the provision of modes to the output means for executing defined maneuvers in response to the presence of occupants in the vehicle. For example, the controller may be configured to receive input indicating the presence of one or more occupants in the vehicle, e.g., from at least one sensor (e.g., input from an internal vehicle system such as a motion sensor, a weight sensor, an internal dedicated input means, etc.). The controller may be configured to receive input indicating the location and / or status of one or more occupants, such as via location detection such as a latch (e.g., a seat belt buckle) or a key fob, or driver state recognition. Advantageously, the provision of modes may be automatically limited to whether occupants are inside or outside the vehicle.

[0041] According to one aspect of the present invention, a method is provided for controlling movement of a vehicle to perform a defined maneuver, the method including: receiving environmental signals indicating the location of one or more features near the vehicle; providing at least one mode for performing the defined maneuver in response to the environmental signals indicating a vehicle envelope appropriate for the mode, 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; and outputting a maneuver signal to cause the vehicle to perform at least a portion of the defined maneuver within the selected mode.

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

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

[0044] The method may include classifying the vehicle envelope as one or more of the following: suitable for all occupants to be present in the vehicle; suitable for at least one occupant to be present in the vehicle; suitable for no occupants to be present in the vehicle.

[0045] The portion 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.

[0046] The method may include providing a user with a selectability of the modes. Additionally or alternatively, the method may include automatically selecting a default mode.

[0047] Second Technology According to one aspect of the present invention, a controller is provided that is configured to operatively determine an orientation of a defined maneuver completion position of a vehicle.

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

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

[0050] The defined maneuver may include a parking maneuver. The parking maneuver may include a park maneuver, such as parking in a stationary position within a space. The parking maneuver may include an unpark maneuver, such as moving from a stationary position out of a space. The defined maneuver completion position may include a park position.

[0051] The controller may comprise a notification output means for outputting a notification signal indicative of a possible defined maneuver completion position signal.

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

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

[0054] The control means may be configured to orient the defined maneuver completion position to be parallel to at least one feature near the vehicle.

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

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

[0057] The control means may be configured to determine an orientation of the vehicle to a plurality of possible defined maneuver completion positions in response to the environmental signals.

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

[0059] The controller may comprise an output means for outputting a steering signal for causing the vehicle to perform the defined steering to the defined steering completion position, wherein the control means is configured to control the output means to output the steering signal.

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

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

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

[0063] The control means may be configured to determine a vacant lot. The control means may be configured to define at least one vehicle envelope within the vacant lot, the vehicle envelope 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 for the vehicle within the vacant lot.

[0064] The vehicle envelope may include a target position suitable for accepting the vehicle at the defined maneuver completion position. The vehicle envelope may include the target defined maneuver completion position. The vehicle envelope may be determined in response to one-dimensional characteristics and / or measurements and / or estimations. The vehicle envelope may be determined in response to environmental signals indicating a length, such as an unobstructed length between features, where the unobstructed length is long enough to accept the vehicle at the defined maneuver completion position. The vehicle envelope may be determined in response to two-dimensional characteristics and / or measurements and / or estimations. For example, the vehicle envelope may be determined in response to environmental signals indicating a length, such as between features, where no obstacles are present along that length and at a particular width or extent perpendicular to that length. The particular width or extent may correspond to at least the width or extent of the vehicle, such as the width of the vehicle when the vehicle is parked and in a closed configuration, such as with the vehicle opening closed. The particular width or extent may correspond to at least the length of the vehicle, such as the length of the vehicle when the vehicle is parked and in a closed configuration, such as in a vertical, parking lot, or fishbone-shaped, angled parking position. The vehicle envelope can include at least one dimension of a parking area, and the defined maneuver completion 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.

[0065] The control means may be configured to define at least two vehicle envelopes within the void, each vehicle envelope including a separately defined maneuver completion position offset within the void.

[0066] The vehicle envelopes may be non-overlapping, or alternatively, the vehicle envelopes may be overlapping.

[0067] The vehicle envelopes can be adjacent to one another and extend parallel along their respective longitudinal axes. Alternatively, the vehicle envelopes can extend along the same longitudinal axis, with a first vehicle envelope being longitudinally displaced along its longitudinal axis from a 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 a second vehicle envelope.

[0068] The control means may be configured to determine the orientation depending on the position of the vehicle occupant. Advantageously, the orientation, such as forward / rearward or parallel / vertical orientation, may be adapted to suit the position of the vehicle occupant, such as whether the vehicle occupant is located inside or outside the vehicle.

[0069] The controller may comprise memory means for storing data therein, and the control means may be configured to determine the orientation in response to the data.

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

[0071] The controller may comprise control means configured to determine the orientation depending on an execution mode of at least a part of the defined maneuver. Advantageously, the orientation may be adapted to be appropriate for the mode. For example, the controller may be configured to adapt the orientation depending on the mode being an in-vehicle mode or an out-of-vehicle mode. The controller may comprise control means configured to adapt the orientation depending on 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 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 possible defined maneuver completion position signals.

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

[0074] The system may comprise an 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 indicative of a user request from the mobile device and outputting a request signal in response.

[0076] The notification output means may be configured to output a notification signal for visual and / or audio notification indicating possible defined maneuver completion positions.

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

[0078] The system may comprise receiver means for receiving a signal indicative of a user request and for outputting a request signal in response.

[0079] Where the control means is arranged to output a steering signal, the system may comprise actuator means for receiving the steering signal for causing the vehicle to perform the defined maneuver.

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

[0081] The method may include outputting a notification signal indicative of a possible defined maneuver completion position signal.

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

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

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

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

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

[0087] The method may include determining an orientation of the defined maneuver completion position as a function of the location of the vehicle.

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

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

[0090] The method may include storing data in a memory means and determining possible defined maneuver completion positions in response to the data.

[0091] The method may include detecting an empty space in response to an environmental signal.

[0092] The method may include determining at least one vehicle envelope within the vacant lot in response to at least one dimensional parameter of the vacant lot derived from the environmental signal. The vehicle envelope may be suitable for receiving the vehicle at the defined maneuver completion position.

[0093] The method may include determining the vehicle envelope in response to environmental signals indicative of at least one additional parameter related to the vacant space in addition to the dimensional parameters.

[0094] The method may include classifying the vacant locations into one or more categories, the categories corresponding to one or more of the following: The vacant location includes a vehicle envelope suitable for receiving the vehicle at the defined maneuver completion position. The vacant location comprises a vehicle envelope suitable for receiving a vehicle at a defined maneuver completion position in the execution of a particular mode of the defined maneuver. The vacant location includes the vehicle envelope in a particular orientation. The vacant location includes multiple vehicle envelopes. A vacant location contains a single vehicle envelope. Vacant space does not include the vehicle envelope.

[0095] Third Technology According to one aspect of the present invention, a controller is provided that is configured to operatively angularly offset wheels at a defined maneuver completion position, particularly with respect to features near the vehicle.

[0096] According to one aspect of the invention, there is provided a controller comprising input means for receiving environmental signals indicative of the location of one or more features near the vehicle, output means for outputting maneuver signals 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 signals so as to angularly offset the wheels at the completion position relative to the features near the vehicle. Advantageously, the vehicle may have an improved wheel configuration at the completion position, for example such that the vehicle has wheels that are suitably angled relative to the features near the vehicle.

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

[0098] The defined maneuvers may include parking maneuvers. Parking maneuvers may include park maneuvers, such as parking in a stationary position within a space. Parking maneuvers may include unpark maneuvers, such as moving from a stationary position out of a space. The completion position may include a park position.

[0099] The control means may be configured to control the output means to angularly offset the wheels in the completion position towards a feature near the vehicle. The wheels in the completion position may be angularly offset towards the feature such that the wheels will contact the feature if the vehicle rolls.

[0100] The one or more features may include a kerb. The control means may be configured to control the output means to angularly offset the wheels in the completed position towards the kerb. Advantageously, this may enable or cause the kerb to prevent the wheels from rolling or from rolling more than may be desired (e.g., to hit the kerb and prevent further rolling of the vehicle), such as when the user does not apply or release the parking brake, particularly when the vehicle is on a slope.

[0101] Offsetting the angle may include providing at least a minimum angle between the wheel and the longitudinal axis of the vehicle, and thus offsetting the angle may include causing the wheel to deviate from a straight ahead trajectory parallel to the longitudinal axis of the vehicle.

[0102] The control means may be configured to control the output means to angularly offset the wheels in the completed position relative to a feature near the vehicle by a predetermined offset angle, advantageously allowing the vehicle to angularly offset the wheels by a sufficient angle, such as a threshold angle or more.

[0103] The predetermined offset angle may correspond to a 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 wheels 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 so that the vehicle is in a locked wheel configuration upon completion of the defined maneuver. Advantageously, in at least some examples, such control means may assist in ensuring compliance with requirements, such as parking laws requiring wheels to remain stationary while parking. A locked wheel configuration may include blocking one or more wheels diagonally relative to the curb, for example, by orienting one or more wheels inward toward the curb when facing downhill and outward from the curb (e.g., toward the street) when facing uphill.

[0105] The control means may be configured to control the output means to angularly offset the wheels in the completion position relative to a feature near the vehicle in response to the tilt. The control means may be configured to control the output means to angularly offset the wheels in the completion position relative to a feature near the vehicle in response to the direction of the tilt. The control means may be configured to control the output means to angularly offset the wheels in the completion position toward the feature in a downward or downhill direction. For example, the wheels in the completion position may be angularly offset toward the feature in a forward direction of the vehicle when the vehicle is tilting downward or downhill in a forward direction of the vehicle. Additionally or alternatively, the wheels in the completion position may be angularly offset toward the feature in a backward direction of the vehicle when the vehicle is tilting downward or downhill in a backward direction of the vehicle (e.g., uphill in a forward direction of the vehicle). The tilt may be of the vehicle particularly in the completion position, as may be indicated by an accelerometer, a gravity sensor, the vehicle suspension system, or the like. The tilt may be of a surface supporting the vehicle, such as the ground. The tilt may include a longitudinal tilt of the vehicle, such as from front to back, along its longitudinal axis. Advantageously, this allows or can cause the curb to prevent the vehicle from rolling too far downward or downhill, such as under the weight of the vehicle if the user does not apply or release the parking brake.

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

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

[0108] The user may include a passenger. The user may include a driver of the vehicle. The user may be within the vehicle. The user may be outside the vehicle, such as for at least a portion 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 may be located within and / or outside the vehicle.

[0109] The control means may be configured to control the output means to angularly offset the wheels at the completion position as part of executing the defined maneuver. The control means may be configured to control the output means to configure the vehicle at the completion position. Advantageously, this may enable the controller to ensure angular offset of the wheels even if the output means is not controlled by the control means throughout the execution to reach the completion position and the vehicle reaches the completion position.

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

[0111] The control means may be configured to determine a vacant lot. The control means may be configured to define at least one vehicle envelope within the vacant lot, the vehicle envelope 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 for the vehicle within the vacant lot.

[0112] The vehicle envelope may include a target position suitable for accepting the vehicle at the defined maneuver completion position. The vehicle envelope may include the target defined maneuver completion position. The vehicle envelope may be determined in response to one-dimensional characteristics and / or measurements and / or estimations. The vehicle envelope may be determined in response to environmental signals indicating a length, such as an unobstructed length between features, where the unobstructed length is long enough to accept the vehicle at the defined maneuver completion position. The vehicle envelope may be determined in response to two-dimensional characteristics and / or measurements and / or estimations. For example, the vehicle envelope may be determined in response to environmental signals indicating a length, such as between features, where no obstacles are present along that length and at a particular width or extent perpendicular to that length. The particular width or extent may correspond to at least the width or extent of the vehicle, such as the width of the vehicle when the vehicle is parked and in a closed configuration, such as with the vehicle opening closed. The particular width or extent may correspond to at least the length of the vehicle, such as the length of the vehicle when the vehicle is parked and in a closed configuration, such as in a vertical, parking lot, or fishbone-shaped, angled parking position. The vehicle envelope can include at least one dimension of a parking area, and the defined maneuver completion 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.

[0113] The control means may be configured to define at least two vehicle envelopes within the void, each vehicle envelope including a distinct offset completion position within the void.

[0114] The two vehicle envelopes may be non-overlapping, or the two vehicle envelopes may be overlapping.

[0115] The two vehicle envelopes can be adjacent to each other and extend parallel along their respective longitudinal axes. Alternatively, the two vehicle envelopes can extend along the same longitudinal axis, with the first vehicle envelope 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 the first vehicle envelope having its longitudinal axis perpendicular to the longitudinal axis of the second vehicle envelope.

[0116] According to one aspect of the invention, there is provided a system comprising: a controller as described above configured to receive environmental signals and output steering signals; environmental sensing means for determining the location of one or more features near the vehicle and outputting environmental signals indicative thereof; and actuator means for receiving the steering signals to cause the vehicle to perform a defined maneuver to a completion position while angularly offsetting the wheels at the completion position relative to the features near the vehicle. Advantageously, the wheels may be angularly offset autonomously relative to the environmental signals. The environmental sensing means may be one or more environmental sensing devices.

[0117] The wheels may include main wheels. The angularly offset wheels may be steerable wheels, such as for turning the vehicle. The wheels may be steerable by a steering wheel. The wheels may include front wheels. The wheels may include rear wheels. Multiple wheels may be angularly offset, such as one or more pairs of wheels. The angular offset may include angularly offsetting the front and / or rear wheels of a vehicle with rear-wheel steering.

[0118] The controller may be configured to provide an indication of the angular offset. The indication may include a visual indication. The indication may include the presence and / or magnitude and / or direction of the angular offset. The indication may be provided externally and / or separately from the vehicle, such as via a mobile device. The indication may be provided within the vehicle. The controller may be configured to control the output means to indicate to a user that the wheels are angularly offset and to rotationally offset the steering wheel relative to a neutral steering wheel position. In particular, the steering wheel may have a rotational or positional similarity or symmetry such that the steering wheel may be or appear to be in a neutral position when the wheels are not in the corresponding neutral wheel position. The neutral steering wheel and / or wheel position or positions may correspond to a straight 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 the neutral position. Advantageously, the rotationally offset steering wheel may indicate to a user that the wheels are angularly offset, and optionally, the direction in which the wheels are angularly offset. In other examples, the steering wheel position 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 signals from the mobile device indicative of a user request for vehicle movement and for outputting a request signal in response. Additionally or alternatively, the receiver means may be for wired receiving signals from the mobile device.

[0120] The control means may be configured to control the output means in response to a location of the vehicle to selectively angularly offset the wheels in the completion position relative to features near the vehicle. The control means may be configured to determine whether the wheels need to be angularly offset in response to the location. The control means may be configured to determine a direction of the angular offset, such as a direction of wheel rotation, in response to the location. The control means may be configured to determine the offset angle in response 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 a memory. The control means may be configured to determine a slope of the vehicle and / or ground in response to the location. Additionally or alternatively, the control means may be configured to determine the slope of the vehicle and / or ground in response to input from a vehicle sensor, such as an accelerometer. Additionally or alternatively, the control means may be configured to determine the slope of the vehicle and / or ground in response to an environmental signal.

[0121] According to one aspect of the present invention, there is provided a method for controlling movement of a vehicle to perform a defined maneuver, the method comprising receiving environmental signals indicating the location of one or more features near the vehicle, and controlling output means in response to the environmental signals to angularly offset wheels relative to the features near the vehicle at a completion position of the defined maneuver.

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

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

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

[0125] The fourth technology According to one aspect of the present invention, a controller is provided that is configured to operatively cause a vehicle to perform at least a portion of a defined maneuver depending on 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 indicative of ambient conditions near a 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 in response to the ambient condition signal to cause the vehicle to perform at least a part of the defined maneuver, advantageously allowing the vehicle to adapt its performance of the defined maneuver to suit the ambient conditions.

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

[0128] The defined maneuver may include a parking maneuver. The parking maneuver may include a park maneuver, such as parking in a stationary position within a space. The parking maneuver may include an unpark maneuver, such as moving from a stationary position out of a space. The defined maneuver completion position may include a park position.

[0129] The control means may be configured to control the output means to cause the vehicle to perform at least part of the defined maneuver in accordance with a vehicle movement control profile determined in response to the ambient condition signals, advantageously causing the vehicle to perform the defined maneuver in a controlled manner appropriate to the ambient conditions.

[0130] The vehicle movement control profile may include a speed parameter, which may represent a primary speed parameter, to advantageously cause the vehicle to perform the defined maneuver at a vehicle speed appropriate for the ambient conditions.

[0131] The control means may be configured to select a vehicle movement control profile in response to a classification of ambient conditions. Advantageously, the vehicle may select, e.g. automatically select, parameters for the execution of a defined maneuver associated with one or more predetermined categories of ambient conditions.

[0132] The speed parameter may indicate the acceleration of the vehicle, which may advantageously cause the vehicle to perform the defined maneuver with appropriate acceleration to perform the defined maneuver efficiently and / or without excessive acceleration of the vehicle or the user or its contents.

[0133] The velocity parameter may be indicative of the jerk of the vehicle, which may advantageously cause the vehicle to perform maneuvers defined with appropriate rates of acceleration that may be physically and / or psychologically appropriate for the user.

[0134] The speed parameters may include maximum speed parameters, and advantageously, the vehicle may be caused to perform the defined maneuver at or within a maximum speed, acceleration, and / or jerk range such that the defined maneuver is performed efficiently and / or physically and / or psychologically appropriate for the user.

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

[0136] The vehicle movement control profile may be a function of the terrain near the vehicle, advantageously allowing the vehicle to adapt the execution of the defined maneuvers to suit the terrain.

[0137] The control means may be configured to select a vehicle movement control profile depending on the classification of the terrain. Advantageously, the vehicle may select, such as by automatically selecting, parameters for the execution of a defined maneuver associated with a given category of terrain.

[0138] The terrain can be a surface. The surface can include the ground, such as a load-bearing surface (e.g., a vehicle bearing). 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 may include one or more of road terrain, off-road terrain, rough terrain, smooth terrain, slippery terrain, flat terrain, and material. The terrain may be classified according to one or more parameters corresponding to one or more of the following: roughness, smoothness, roughness, grip, slip, friction, one or more gradients, one or more slopes, and one or more materials. The one or more parameters may include magnitude and / or direction.

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

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

[0142] The user may include a passenger. The user may include a driver of the vehicle. The user may be within the vehicle. The user may be outside the vehicle, such as for at least a portion 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 may be located within and / or outside the vehicle.

[0143] The control means may be configured to determine a vacant lot. The control means may be configured to define at least one vehicle envelope within the vacant lot, the vehicle envelope 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 for the vehicle within the vacant lot.

[0144] The vehicle envelope may include a target position suitable for accepting the vehicle at the defined maneuver completion position. The vehicle envelope may include the target defined maneuver completion position. The vehicle envelope may be determined in response to one-dimensional characteristics and / or measurements and / or estimations. The vehicle envelope may be determined in response to environmental signals indicating a length, such as an unobstructed length between features, where the unobstructed length is long enough to accept the vehicle at the defined maneuver completion position. The vehicle envelope may be determined in response to two-dimensional characteristics and / or measurements and / or estimations. For example, the vehicle envelope may be determined in response to environmental signals indicating a length, such as between features, where no obstacles are present along that length and at a particular width or extent perpendicular to that length. The particular width or extent may correspond to at least the width or extent of the vehicle, such as the width of the vehicle when the vehicle is parked and in a closed configuration, such as with the vehicle opening closed. The particular width or extent may correspond to at least the length of the vehicle, such as the length of the vehicle when the vehicle is parked and in a closed configuration, such as in a vertical, parking lot, or fishbone-shaped, angled parking position. The vehicle envelope can include at least one dimension of a parking area, and the defined maneuver completion 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.

[0145] The control means may be configured to define at least two vehicle envelopes within the void, each vehicle envelope including a separately defined maneuver completion position offset within the void.

[0146] The two vehicle envelopes may be non-overlapping, or the two vehicle envelopes may be overlapping.

[0147] The two vehicle envelopes can be adjacent to each other and extend parallel along their respective longitudinal axes. Alternatively, the two vehicle envelopes can extend along the same longitudinal axis, with the first vehicle envelope 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 the first vehicle envelope having its 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 to output steering signals, and actuator means for receiving steering signals to cause the vehicle to perform a defined maneuver depending on ambient conditions near the vehicle.

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

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

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

[0152] The system may include a controller configured to select a vehicle movement control profile depending on one or more characteristics.

[0153] The system may include a controller configured to select a vehicle movement control profile depending on the location of the vehicle.

[0154] The system may include a controller configured to select a vehicle movement control profile for executing a defined maneuver depending on a driving mode of the vehicle. The driving mode of the vehicle may include one or more of "off-road," "sport," "normal," "race," "comfort," "personal," "economy," etc. The driving mode may correspond to a vehicle parameter such as a ride comfort setting.

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

[0156] The system may comprise receiver means for receiving a signal indicative of a user request for vehicle movement and for outputting a request signal in response. The receiver means may be for wirelessly receiving a signal from a mobile device.

[0157] The system can include a controller configured to receive a terrain signal indicative of at least one terrain near the vehicle, and the controller can be configured to select a vehicle movement control profile for executing the defined maneuver in response to the terrain signal.

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

[0159] According to one aspect of the present invention, there is provided a method for controlling movement of a vehicle to perform a defined maneuver, the method comprising receiving an ambient condition signal indicative of ambient conditions near the vehicle, and controlling an output means in response to the ambient condition signal such that at least a portion of the defined maneuver is performed in response to the ambient conditions near the vehicle.

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

[0161] The method may include controlling the output means in response to the ambient condition signal such that at least a portion of the defined maneuver is performed in accordance with a vehicle movement control profile in response to ambient conditions near the vehicle.

[0162] The method may include selecting a vehicle movement control profile depending on an operating mode of the vehicle.

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

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

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

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

[0167] Fifth Technology According to one aspect of the present invention, there is provided a controller arranged to operatively alter the position of a moveable protrusion of a vehicle in response to an environmental signal during performance of a defined maneuver.

[0168] According to one aspect of the invention there is provided a controller comprising input means for receiving environmental signals indicative of the location of one or more features near the vehicle, output means for outputting maneuver signals to cause the vehicle to perform a defined maneuver, and control means configured to control the output means to cause the vehicle to perform the defined maneuver, the control means being configured to control the output means in response to the environmental signals to change a position of a moveable protrusion of the vehicle during the defined maneuver, advantageously causing the vehicle to change position to suit the environment.

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

[0170] The defined maneuver may include a parking maneuver. The parking maneuver may include a park maneuver, such as parking in a stationary position within a space. The parking maneuver may include an unpark maneuver, such as moving from a stationary position out of a space. The defined maneuver completion position may include a park position.

[0171] The input means may be configured to receive environmental signals from environmental sensing means associated with the moveable protrusion of the vehicle. Advantageously, at least part of the environmental sensing means associated with the moveable protrusion may be connected to the moveable protrusion, or may be within the moveable protrusion.

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

[0173] The control means may be configured to control the output means in response to data stored in the memory means. Advantageously, the control means may be able to control the output means using data, such as previously stored data about the environment, such as when data is not available from the input means or such data is not available.

[0174] The control means may be configured to control the output means to modify the moveable protrusion of the vehicle during the defined maneuver in response to the data stored in the memory means. The control means may use the stored data after the data for controlling the position of the moveable protrusion is no longer available or obtainable, such as when the environmental sensing means is reconfigured or repositioned (e.g. when the environmental sensing means is associated with the moveable protrusion).

[0175] The control means may be configured to control the output means to reconfigure the vehicle's moveable protrusion from the vehicle's moveable protrusion extended position to the vehicle's moveable protrusion folded position during the defined parking maneuver. Advantageously, the control means may cause the vehicle to assume a particular configuration (e.g. smaller or narrower) during the defined parking maneuver.

[0176] The control means may be configured to control the output means to change the position of the vehicle's moveable protrusion from the folded position of the vehicle's moveable protrusion to the extended position of the vehicle's moveable protrusion during the defined maneuver of unparking. Advantageously, the control means may cause the vehicle to assume another particular configuration (e.g., with the moveable protrusion deployed, fully deployed or activated) during the defined maneuver of unparking, thereby placing the moveable protrusion in a normal driving use configuration (e.g., with the moveable protrusion deployed, fully deployed or activated) to enable completion of the defined maneuver and / or subsequent performance 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 the defined maneuver in response to environmental signals indicative of features such as proximal features of the vehicle or the movable protrusion, particularly within a proximal location of a predicted or anticipated vehicle trajectory that is that of the movable protrusion. Advantageously, the position of the movable protrusion may be changed to correspond to or assist the future path or trajectory of the vehicle.

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

[0179] The user may include a passenger. The user may include a driver of the vehicle. The user may be within the vehicle. The user may be outside the vehicle, such as for at least a portion 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 may be located within and / or outside the vehicle.

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

[0181] The control means may be configured to determine a vacant lot. The control means may be configured to define at least one vehicle envelope within the vacant lot, the vehicle envelope 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 for the vehicle within the vacant lot.

[0182] The vehicle envelope may include a target position suitable for accepting the vehicle at the defined maneuver completion position. The vehicle envelope may include the target defined maneuver completion position. The vehicle envelope may be determined in response to one-dimensional characteristics and / or measurements and / or estimations. The vehicle envelope may be determined in response to environmental signals indicating a length, such as an unobstructed length between features, where the unobstructed length is long enough to accept the vehicle at the defined maneuver completion position. The vehicle envelope may be determined in response to two-dimensional characteristics and / or measurements and / or estimations. For example, the vehicle envelope may be determined in response to environmental signals indicating a length, such as between features, where no obstacles are present along that length and at a particular width or extent perpendicular to that length. The particular width or extent may correspond to at least the width or extent of the vehicle, such as the width of the vehicle when the vehicle is parked and in a closed configuration, such as with the vehicle opening closed. The particular width or extent may correspond to at least the length of the vehicle, such as the length of the vehicle when the vehicle is parked and in a closed configuration, such as in a vertical, parking lot, or fishbone-shaped, angled parking position. The vehicle envelope can include at least one dimension of the parking area, and the accepted 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 accepting the vehicle at or above the defined maneuver completion position.

[0183] The control means may be configured to define at least two vehicle envelopes within the void, each vehicle envelope including a separately defined maneuver completion position offset within the void.

[0184] The vehicle envelopes may be non-overlapping, or alternatively, the vehicle envelopes may be overlapping.

[0185] The vehicle envelopes can be adjacent to one another and extend parallel along their respective longitudinal axes. Alternatively, the vehicle envelopes can extend along the same longitudinal axis, with a first vehicle envelope being longitudinally displaced along its longitudinal axis from a 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 a second vehicle envelope.

[0186] According to one aspect of the 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 location of one or more features near the vehicle and outputting environmental signals indicative thereof.

[0187] The system may comprise actuator means for receiving a maneuver signal for causing the vehicle to perform a defined maneuver.

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

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

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

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

[0192] The method may include determining the location of the one or more features using an 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 on the vehicle.

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

[0195] The method may include controlling the output means in response to the stored data.

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

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

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

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

[0200] 6th Technology According to one aspect of the present invention, a controller is provided that is configured to operatively cause a vehicle to perform at least a portion of a defined maneuver as a function of terrain.

[0201] According to one aspect of the present invention there is provided a controller comprising input means for receiving a terrain signal indicative of terrain near a vehicle, output means for outputting a maneuver signal for causing the vehicle to perform a defined maneuver, and control means arranged to control the output means in response to the terrain signal, advantageously allowing the vehicle to adapt the performance of the defined maneuver to suit the terrain.

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

[0203] The defined maneuver may include a parking maneuver. The parking maneuver may include a park maneuver, such as parking in a stationary position within a space. The parking maneuver may include an unpark maneuver, such as moving from a stationary position out of a space. The defined maneuver completion position may include a park position.

[0204] The control means may be configured to control the output means to cause the vehicle to perform at least part of the defined maneuver in accordance with a vehicle movement control profile determined in response to the terrain signal, advantageously causing the vehicle to perform the defined maneuver in a controlled manner appropriate to the terrain.

[0205] The vehicle movement control profile may include a speed parameter, which may represent a primary speed parameter, to advantageously allow the vehicle to perform the defined maneuver at a vehicle speed appropriate for the terrain.

[0206] The control means may be configured to select a vehicle movement control profile in response to a classification of the terrain. Advantageously, the vehicle may automatically or otherwise select parameters for the execution of a defined maneuver associated with a given category of terrain or multiple terrains.

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

[0208] The categories of terrain may include one or more of road terrain, off-road terrain, rough terrain, smooth terrain, slippery terrain, flat terrain, and material. Terrain may be classified according to one or more parameters corresponding to one or more of the following: roughness, smoothness, roughness, grip, slip, friction, one or more gradients, one or more slopes, and one or more materials. The one or more parameters may include magnitude and / or direction.

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

[0210] The speed parameter may be indicative of the acceleration of the vehicle, which may advantageously cause the vehicle to perform the defined maneuver with appropriate acceleration to perform the defined maneuver efficiently and / or without undue acceleration of the vehicle or its contents or occupants.

[0211] The velocity parameter may be indicative of the jerk of the vehicle, which may advantageously cause the vehicle to perform maneuvers defined with appropriate rates of acceleration that may be physically and / or psychologically appropriate for the user.

[0212] The speed parameters include a maximum speed parameter, and advantageously, the vehicle can be caused to perform the defined maneuver with a maximum speed, acceleration, and / or jerk, such that the defined maneuver is performed efficiently and / or physically and / or psychologically in a manner that is appropriate for the user.

[0213] The maximum speed parameter of the vehicle movement control profile corresponding to the first terrain may be less than the maximum speed parameter of the vehicle movement control profile corresponding to the second terrain. Advantageously, the maximum speed parameter may be varied to accommodate variations in the terrain.

[0214] The maximum speed parameter of the vehicle movement control profile corresponding to the off-road terrain may be less than the maximum speed parameter of the vehicle movement control profile corresponding to the on-road terrain. Advantageously, the maximum speed parameter may be lowered to accommodate the difference in forces. In at least some examples, the maximum speed parameter of the vehicle movement control profile corresponding to the off-road terrain may be the same as or greater than the maximum speed parameter of the vehicle movement control profile corresponding to the on-road terrain. For example, the maximum jerk of the vehicle movement control profile corresponding to the off-road terrain may be increased if the user is accustomed to or may expect increased jerk (e.g., associated with particularly rough terrain).

[0215] The movement control profile may be a function of the ambient conditions in the vicinity of the vehicle, and advantageously allow the vehicle to adapt the execution of the defined maneuver to suit the ambient conditions.

[0216] The controller may comprise a second input means for receiving a request signal indicative of a received signal indicative of a user request. The request signal may represent a wired or wirelessly received signal indicative of a user request, such as from a user's mobile device. Advantageously, this may allow the vehicle to be effectively commanded, such as remotely commanded, from the user's mobile device.

[0217] The user may include a passenger. The user may include a driver of the vehicle. The user may be within the vehicle. The user may be outside the vehicle, such as for at least a portion 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 may be located within and / or outside the vehicle.

[0218] The control means may be configured to determine a vacant lot. The control means may be configured to define at least one vehicle envelope within the vacant lot, the vehicle envelope 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 for the vehicle within the vacant lot.

[0219] The vehicle envelope may include a target position suitable for accepting the vehicle at the defined maneuver completion position. The vehicle envelope may include the target defined maneuver completion position. The vehicle envelope may be determined in response to one-dimensional characteristics and / or measurements and / or estimations. The vehicle envelope may be determined in response to environmental signals indicating a length, such as an unobstructed length between features, where the unobstructed length is long enough to accept the vehicle at the defined maneuver completion position. The vehicle envelope may be determined in response to two-dimensional characteristics and / or measurements and / or estimations. For example, the vehicle envelope may be determined in response to environmental signals indicating a length, such as between features, where no obstacles are present along that length and at a particular width or extent perpendicular to that length. The particular width or extent may correspond to at least the width or extent of the vehicle, such as the width of the vehicle when the vehicle is parked and in a closed configuration, such as with the vehicle opening closed. The particular width or extent may correspond to at least the length of the vehicle, such as the length of the vehicle when the vehicle is parked and in a closed configuration, such as in a vertical, parking lot, or fishbone-shaped, angled parking position. The vehicle envelope can include at least one dimension of a parking area, and the defined maneuver completion 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.

[0220] The control means may be configured to define at least two vehicle envelopes within the void, each vehicle envelope including a separately defined maneuver completion position offset within the void.

[0221] The two vehicle envelopes may be non-overlapping, or the two vehicle envelopes may be overlapping.

[0222] The two vehicle envelopes can be adjacent to each other and extend parallel along their respective longitudinal axes. Alternatively, the two vehicle envelopes can extend along the same longitudinal axis, with the first vehicle envelope 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 the first vehicle envelope having its 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 terrain signals and to output steering signals, and actuator means for receiving the steering signals to cause the vehicle to perform a defined maneuver in response to the terrain signals.

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

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

[0226] The control means may be configured to control the output means to cause the vehicle to perform at least a portion of the defined maneuver in accordance with a vehicle movement control profile determined in response to the terrain signal.

[0227] The control means may be configured to select a vehicle movement profile depending on one or more characteristics.

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

[0229] The control means may be configured to select a vehicle movement control profile for performing the defined maneuver depending on 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 depending on the presence of an occupant in 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, and the control means may be configured to select a vehicle movement control profile for executing the 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 vehicle movement and for outputting a request signal in response. The receiver means may be for wirelessly receiving a signal from a mobile user device indicative of the user request.

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

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

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

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

[0237] The method may include selecting a vehicle movement control profile depending on an operating mode of the vehicle.

[0238] The method may include selecting a vehicle movement control profile depending on 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 in response to the ambient conditions.

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

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

[0242] The seventh technology According to one aspect of the present invention, a controller is provided that is configured to operatively cause a vehicle to perform a maneuver defined within a number of trajectory segments, the number of which is selectively adapted in response to an environmental signal.

[0243] According to one aspect of the invention, there is provided a controller comprising: input means for receiving environmental signals indicative of locations of one or more features near the vehicle; output means for outputting a maneuver signal to cause 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 planned trajectory for executing the defined maneuver within a number of trajectory segments to the defined maneuver completion position within a defined maneuver completion position tolerance range relative to the features near the vehicle, the control means being configured to determine the defined maneuver completion position tolerance range in response to the environmental signals. Advantageously, the controller is capable of causing the vehicle to execute the defined maneuver within a number of trajectory segments that are compatible with the features near the vehicle.

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

[0245] The defined maneuver may include a parking maneuver. The parking maneuver may include a park maneuver, such as parking in a stationary position within a space. The parking maneuver may include an unpark maneuver, such as moving from a stationary position out of a space. The defined maneuver completion position may include a park position.

[0246] The control means may be configured to determine the number of trajectory segments depending on a defined maneuver completion position tolerance. Advantageously, the number of trajectory segments may be adapted to fit the defined maneuver completion position tolerance.

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

[0248] The control means may be configured to determine a vacant lot. The control means may be configured to define at least one vehicle envelope within the vacant lot, the vehicle envelope 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 for the vehicle within the vacant lot.

[0249] The vehicle envelope may include a target position suitable for accepting the vehicle at the defined maneuver completion position. The vehicle envelope may include the target defined maneuver completion position. The vehicle envelope may be determined in response to one-dimensional characteristics and / or measurements and / or estimations. The vehicle envelope may be determined in response to environmental signals indicating a length, such as an unobstructed length between features, where the unobstructed length is long enough to accept the vehicle at the defined maneuver completion position. The vehicle envelope may be determined in response to two-dimensional characteristics and / or measurements and / or estimations. For example, the vehicle envelope may be determined in response to environmental signals indicating a length, such as between features, where no obstacles are present along that length and at a particular width or extent perpendicular to that length. The particular width or extent may correspond to at least the width or extent of the vehicle, such as the width of the vehicle when the vehicle is parked and in a closed configuration, such as with the vehicle opening closed. The particular width or extent may correspond to at least the length of the vehicle, such as the length of the vehicle when the vehicle is parked and in a closed configuration, such as in a vertical, parking lot, or fishbone-shaped, angled parking position. The vehicle envelope can include at least one dimension of a parking area, and the defined maneuver completion 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.

[0250] The control means may be configured to define at least two vehicle envelopes within the void, each vehicle envelope including a separately defined maneuver completion position offset within the void.

[0251] The two vehicle envelopes may be non-overlapping, or the two vehicle envelopes may be overlapping.

[0252] The two vehicle envelopes can be adjacent to each other and extend parallel along their respective longitudinal axes. Alternatively, the two vehicle envelopes can extend along the same longitudinal axis, with the first vehicle envelope 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 the first vehicle envelope having its longitudinal axis perpendicular to the longitudinal axis of the second vehicle envelope.

[0253] The control means may be configured to determine both the defined maneuvered position tolerance and the number of trajectory segments in response to environmental signals indicative of vehicle envelope parameters of a vehicle envelope for accepting the vehicle. Advantageously, both the number of trajectory segments and the defined maneuvered position tolerance may be adapted to suit the vehicle envelope in which the vehicle is to be positioned at the defined maneuvered position.

[0254] The control means may be configured to provide a larger defined maneuver completion position tolerance for a vehicle envelope having a larger vehicle envelope parameter. For example, the vehicle envelope parameter may be one or more dimensions, such as a separation to or between one or more features near the vehicle. Advantageously, the defined maneuver completion position tolerance may be larger when the vehicle envelope is large, e.g., such that the defined maneuver completion position may not need to be as precise when the separation to one or more features near the vehicle is greater. For example, if the vehicle envelope includes a larger parking space, a larger tolerance may be provided (e.g., the vehicle may not need to be positioned within the space as precisely).

[0255] The control means may be configured to provide a fewer number of trajectory segments for vehicle envelopes having larger vehicle envelope parameters. Advantageously, the defined maneuver completion position tolerance range may be smaller when the vehicle envelope is small, thereby enabling the defined maneuver completion position to be more accurate when the separation to 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 range and the number of trajectory segments depending on the location of an occupant of the vehicle. The occupant location may be within the vehicle, such as a driver in a cab. Advantageously, the number of trajectory segments or the defined maneuver completion position tolerance range may be adapted to suit whether one or more occupants are inside or outside the vehicle. For example, the control means may be configured to allow fewer trajectory segments for a quicker defined maneuver when a vehicle occupant, such as a driver, is inside the vehicle (and optionally, vice versa, such as when no vehicle occupant is present). Alternatively, the control means may be configured to allow more trajectory segments for a more precise defined maneuver completion position when a vehicle occupant, such as a driver, is inside the vehicle (and optionally, vice versa, such as 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 trajectory segments depending on a mode for executing the defined maneuver. The execution modes may include one or more of at least one mode corresponding to an occupant in-vehicle mode and at least one mode corresponding to an occupant out-of-vehicle mode. Advantageously, the execution of the defined maneuver (e.g., the number of trajectory segments or direction changes) may be adapted to fit the execution mode depending on whether the occupant is located inside or outside the vehicle (e.g., physical and / or psychological impact on the user), etc.

[0258] The number of orbital segments within which the defined maneuver is performed may be the maximum number of orbital segments. Advantageously, the defined maneuver may be limited to a maximum number of segments so that the defined maneuver, or at least the user's perception of it, is not performed within too many orbital segments.

[0259] The planned trajectory may be from a defined maneuver start position to a defined maneuver end position. The number of trajectory segments may be a total number of trajectory segments from the defined maneuver start position to the defined maneuver end position. Advantageously, the entire defined maneuver may be executed in a limited total number of trajectory segments, such that it may be deemed physically and / or psychologically acceptable or desirable for the user.

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

[0261] The control means may be configured to determine each successive track portion to be in an opposite vehicle longitudinal direction to the preceding track portion. Advantageously, the vehicle may be moved repeatedly or continuously backwards and then forwards (or vice versa), thus providing continuous movement in any single longitudinal direction.

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

[0263] The user may include a passenger. The user may include a driver of the vehicle. The user may be within the vehicle. The user may be outside the vehicle, such as for at least a portion 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 may be located within and / or outside the vehicle.

[0264] 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, environmental sensing means configured to determine the location of one or more features near the vehicle, and actuator means for receiving the steering signals to cause the vehicle to perform a defined maneuver.

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

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

[0267] The system may comprise a location input means for receiving a location input for configuring the control means to determine at least one of a defined maneuver completion position tolerance and a number of orbital segments in response to a location parameter.

[0268] According to one aspect of the present invention, a method is provided for controlling movement of a vehicle to perform a defined maneuver to a defined maneuver completion position, the method including receiving environmental signals indicating the locations of one or more features near the vehicle, determining a defined maneuver completion position tolerance range in response to the environmental signals, determining a planned trajectory for performing the defined maneuver within several trajectory segments to the defined maneuver completion position within the defined maneuver completion position tolerance range for the features near the vehicle, and outputting a maneuver signal to cause the vehicle to perform the defined maneuver.

[0269] The method may include determining the number of orbital segments as a function of a defined maneuver completion position tolerance.

[0270] The method may include inversely relating the number of orbital segments to the defined maneuver completion position tolerance, whereby when the defined maneuver completion position tolerance is large, the defined maneuver is executed in fewer orbital segments, and when the defined maneuver completion position tolerance is small, the defined maneuver is limited to a greater number of orbital segments.

[0271] The method may include determining both the defined maneuver completion position tolerance and the number of trajectory segments in response to an environmental signal indicating that a vehicle envelope parameter of a vehicle envelope for accepting the vehicle exceeds a threshold.

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

[0273] The method may include providing fewer trajectory segments for vehicle envelopes having smaller vehicle envelope parameters.

[0274] The method may include determining at least one of a defined maneuver completion position tolerance and a number of trajectory segments as a function of a location of a vehicle occupant.

[0275] The method may include sequentially moving the vehicle in a single, alternating longitudinal vehicle direction on each successive track section such that each track section is in an opposite longitudinal vehicle direction to at least one of the immediately preceding and immediately succeeding track sections.

[0276] The method may include receiving a signal indicative of a user request for vehicle movement and outputting a request signal in response.

[0277] The method may include determining at least one of a number of orbit segments and a defined maneuver completion position tolerance range in response to the ambient condition signal.

[0278] The 8th Technology According to one aspect of the present invention, a controller is provided that is configured to operably cause a vehicle to perform a maneuver defined in a mode corresponding to a passenger in-vehicle mode or a mode corresponding to a passenger out-vehicle mode, the mode being variable during the defined maneuver.

[0279] According to one aspect of the invention, there is provided a controller comprising: output means for outputting a maneuver signal to cause the vehicle to perform a defined maneuver; and control means configured to control the output means, the control means configured to provide 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, the control means configured to change the mode during the defined maneuver. Advantageously, the defined maneuver can be performed in a plurality of modes, the mode changing during the maneuver to suit a user.

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

[0281] The defined maneuver may include a parking maneuver. The parking maneuver may include a park maneuver, such as parking in a stationary position within a space. The parking maneuver may include an unpark maneuver, such as moving from a stationary position out of a space. The defined maneuver completion position may include a park position.

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

[0283] The input means may be for receiving a request signal indicative of a mode selection.

[0284] The control means may be configured to allow the modes to be selected depending on the location of the vehicle occupant, and advantageously only the mode or modes appropriate or optimal for the location of the vehicle occupant may be selectable.

[0285] The control means may be configured to control the mode in response to a vehicle occupant location transitioning between an interior location and an exterior location. Advantageously, the mode may be changed by an occupant entering or exiting the vehicle.

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

[0287] The controller may comprise environmental input means for receiving environmental signals indicative of the location of one or more features near the vehicle, and the control means is configured such that the modes are selectable in response to the environmental signals indicative of a vehicle envelope suitable for the modes. Advantageously, only one or more modes appropriate or optimal for the vehicle envelope may be selectable.

[0288] The user may include a passenger. The user may include a driver of the vehicle. The user may be within the vehicle. The user may be outside the vehicle, such as for at least a portion 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 may be located within and / or outside the vehicle.

[0289] The control means may be configured to determine a vacant lot. The control means may be configured to define at least one vehicle envelope within the vacant lot, the vehicle envelope 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 for the vehicle within the vacant lot.

[0290] The vehicle envelope may include a target position suitable for accepting the vehicle at the defined maneuver completion position. The vehicle envelope may include the target defined maneuver completion position. The vehicle envelope may be determined in response to one-dimensional characteristics and / or measurements and / or estimations. The vehicle envelope may be determined in response to environmental signals indicating a length, such as an unobstructed length between features, where the unobstructed length is long enough to accept the vehicle at the defined maneuver completion position. The vehicle envelope may be determined in response to two-dimensional characteristics and / or measurements and / or estimations. For example, the vehicle envelope may be determined in response to environmental signals indicating a length, such as between features, where no obstacles are present along that length and at a particular width or extent perpendicular to that length. The particular width or extent may correspond to at least the width or extent of the vehicle, such as the width of the vehicle when the vehicle is parked and in a closed configuration, such as with the vehicle opening closed. The particular width or extent may correspond to at least the length of the vehicle, such as the length of the vehicle when the vehicle is parked and in a closed configuration, such as in a vertical, parking lot, or fishbone-shaped, angled parking position. The vehicle envelope can include at least one dimension of a parking area, and the defined maneuver completion 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.

[0291] The control means may be configured to define at least two vehicle envelopes within the void, each vehicle envelope including a separately defined maneuver completion position offset within the void.

[0292] The two vehicle envelopes may be non-overlapping, or the two vehicle envelopes may be overlapping.

[0293] The two vehicle envelopes can be adjacent to each other and extend parallel along their respective longitudinal axes. Alternatively, the two vehicle envelopes can extend along the same longitudinal axis, with the first vehicle envelope 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 the first vehicle envelope having its 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 a controller as described above configured to output steering signals, and actuator means for receiving steering signals to cause a vehicle to perform a defined maneuver.

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

[0296] The controller may be configured to control the provision of the modes depending on the location of the vehicle occupant.

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

[0298] According to one aspect of the present invention, a method for controlling movement of a vehicle to perform a defined maneuver is provided, the method including: providing a mode for performing at least a portion 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 to cause the vehicle to perform at least a portion of the defined maneuver in the selected mode; and changing the mode during performance of the defined maneuver.

[0299] The method may include receiving a signal indicative of a user request for vehicle movement and outputting a request signal in response.

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

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

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

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

[0304] The portion 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 a user with a selectability of the modes.

[0306] 9th Technology According to one aspect of the present invention, a controller is provided that is configured to be operable so that the vehicle automatically notifies the user of an opportunity to perform a defined maneuver.

[0307] According to one aspect of the present invention, there is provided a controller comprising: input means for receiving an input signal; control means configured to determine a defined maneuver opportunity for execution of at least a portion of the defined maneuver by the vehicle; notification output means for outputting a notification signal; and control means configured to control the notification output means to output a notification signal indicative of the determination of the defined maneuver opportunity by the control means; a control means configured to control the notification output means to automatically notify a vehicle user of the defined maneuvering opportunity independent of a user request for determination by the control means of the defined maneuvering opportunity, and the control means configured to control the notification output means to notify the vehicle user of the defined maneuvering opportunity in response to an input signal indicative of a vehicle parameter; a steering output means for outputting a steering signal for causing the vehicle to execute the defined steering; A controller is provided comprising a request input means for receiving a request signal indicating a user request for execution of at least a portion of a defined maneuver, the maneuver output means being controlled by the control means to cause the vehicle to execute the defined maneuver in response to the request signal.

[0308] A controller as described above, wherein: The input means may include an electrical input for receiving a signal; The output means may include an electrical output for outputting a signal; The control means may comprise one or more control devices, such as electronic processing devices.

[0309] The defined maneuver may include a parking maneuver. The parking maneuver may include a park maneuver, such as parking in a stationary position within a space. The parking maneuver may include an unpark maneuver, such as moving from a stationary position out of a space. The defined maneuver completion position may include a park position.

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

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

[0312] The control means may be configured to control the notification means to output a notification signal indicative of the defined maneuvering opportunity without requiring user activation of the controller to determine the defined maneuvering opportunity.

[0313] The control means can be configured to control the notification means to output a notification signal indicating a determination of the defined maneuvering 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 the plurality of input sources.

[0314] The control means may be configured to control the notification means to output a notification signal indicative of a determination of the defined maneuver opportunity in response to an input signal, the input signal comprising at least one of: 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 indicative of a vehicle event; and Location signals indicating the location of the vehicle.

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

[0316] The control means may be configured to transfer control from the user to the control means to continue the execution of the user-initiated maneuver as a defined maneuver.

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

[0318] The control means may be configured to determine a plurality of opportunities for performing at least a portion of the defined maneuver, and the control means is configured to control the notification means to output a notification signal to a user about the determination of the plurality of opportunities.

[0319] The controller may comprise a user input means for receiving a request signal indicative of a received signal indicative of a user request. The request signal may represent a signal received wired or wirelessly indicative of a user request, such as from a user's mobile device. Advantageously, this may allow the vehicle to be effectively commanded from a user's mobile device, such as remotely by a user outside the vehicle.

[0320] The user may include a passenger. The user may include a driver of the vehicle. The user may be within the vehicle. The user may be outside the vehicle, such as for at least a portion 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 may be located within and / or outside the vehicle.

[0321] The control means may be configured to control the steering output means in response to the request signal to execute the defined maneuver from a user-initiated maneuver end position. Advantageously, the control means may cause the vehicle to execute the defined maneuver from a non-specific defined maneuver start position, such as corresponding to any user-initiated maneuver end position or not being a predetermined defined maneuver start position.

[0322] A user-initiated maneuver can include a parking maneuver. A user-initiated parking maneuver can include a partial parking maneuver, such as into an incomplete parking position (e.g., not fully in or out of a parking space). A parking maneuver can include a park-in maneuver, such as parking in a stationary position within a space. A parking maneuver can include an unpark maneuver, such as moving from a stationary position out of a space. A user-initiated maneuver end position can include a stationary vehicle position.

[0323] The control means may be configured to detect performance of a user-initiated maneuver in response to the input signal. The control means may be configured to control the notification output means to notify the user of the control means' detection of the user-initiated maneuver. Advantageously, the user may be alerted to the possibility of performance of the defined maneuver.

[0324] The control means may be configured to control the notification output means to automatically output a notification signal upon detection by the control means of a user-initiated maneuver. The control means may be configured to offer continuation by the user as the defined maneuver. Advantageously, the user may be offered the possibility of performing the defined maneuver without necessarily explicitly requesting or asking for the possibility.

[0325] The control means may be configured to control the notification output means to output the notification signal independent of a user request to the maneuver output means controlled by the control means. Advantageously, the controller may be configured to automatically output the notification signal without requiring activation of the control means by the vehicle user. For example, the user may otherwise be unaware of the possibility of performing a defined maneuver (e.g., in a particular scenario), and thus, by allowing the notification signal to be output independent of a user request, it may be possible to provide the user with an increasing number of useful defined maneuver possibilities (e.g., compared to only those that the user had explicitly requested beforehand).

[0326] The control means may be configured to control the notification output means at least partly in response to input signals received prior to the user-initiated maneuver to the user-initiated maneuver end position. Advantageously, the control means may be able to determine from the previous input signals whether one or more defined maneuvers are possible (e.g. if the previous input signals included data that is no longer available via the corresponding input means).

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

[0328] The control means may be configured to control the maneuver output means to cause the vehicle to follow a planned trajectory from a user-initiated maneuver end position to a defined maneuver completion position. Advantageously, the control means is capable of predetermining a trajectory for the vehicle to perform the defined maneuver.

[0329] The planned trajectory may include at least a partial correction of a user-initiated maneuver that was performed prior to the user request. Advantageously, at least a portion of the user-initiated maneuver may be corrected or undone. For example, if the user improperly entered or partially entered a parking space or location in a user-initiated parking maneuver, such as at an improper vehicle angle relative to the parking space or location, the control means may be configured to more appropriately position the vehicle within the space or location and / or to move the vehicle out of the parking space or location (e.g., to resume parking as a defined maneuver).

[0330] The control means may be configured to control the steering output means to cause the vehicle to perform a reversal of at least a portion of a user-initiated steering performed prior to the defined maneuver.

[0331] The control means may be configured to control the maneuver output means to execute the defined maneuver from a user-defined start position of the defined maneuver, the user-defined start position of the defined maneuver corresponding to a user-initiated maneuver end position. The start position of the defined maneuver may include an intermediate maneuver position, such as partially into or out of an open area of the vehicle.

[0332] The controller may comprise memory means for storing data therein. 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 indicative of an opportunity in response to the data.

[0333] The stored data may represent defined maneuvers that have been previously performed.

[0334] The control means may be configured to control the steering output means to cause the vehicle to perform a repetition of at least a portion of a previously performed defined maneuver. The performance may be selective.

[0335] The control means may be configured to control the maneuver output means to cause the vehicle to perform at least a partial reversal of a previously performed defined maneuver. The reversal may include an opposite maneuver or a reversal. For example, the reversal may include an unpark maneuver of a previous park maneuver, or a park maneuver of a previous unpark maneuver.

[0336] The stored data may indicate previously performed user-initiated maneuvers.

[0337] The control means may be configured to control the notification output means to notify the user in response to a previously performed user-initiated maneuver being followed by the defined maneuver.

[0338] The input means may be configured to receive a plurality of input signals from a plurality of input sources, the plurality of input signals being selected from at least the following: environmental signals that characterize the vicinity of the vehicle; an operation signal indicating the operation of the vehicle; a steering signal indicating a user's steering; an event signal indicative of a vehicle event; and Location signal showing geographic location.

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

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

[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 independent of the vehicle speed parameter.

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

[0344] The environmental sensing means may be automatically activatable independent of additional vehicle parameters.

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

[0346] The environmental sensing means may be automatically activatable independent of any of the vehicle speed parameters or additional parameters of the vehicle. Advantageously, the environmental sensing means may only require one parameter (e.g., reaching a threshold) to be activated.

[0347] The system may include receiver means. The receiver means may be for receiving a user signal indicative of a user request. The receiver means may be for outputting a request signal in response to receiving 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, user requests originating from outside the vehicle may be received to enable execution of a defined maneuver at least in some cases while an occupant is outside the vehicle.

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

[0349] According to one aspect of the present invention, there is provided a method of controlling movement of a vehicle to perform a defined maneuver, comprising the steps of: receiving an input signal, the input signal indicative of a vehicle parameter; and determining, with the control means, a defined maneuver opportunity for execution of at least a portion of the defined maneuver by the vehicle; automatically notifying a vehicle user of a determination of a defined maneuver opportunity for execution of at least a portion of the defined maneuver independent of a user request for the determination of the defined maneuver opportunity for execution of at least the portion of the defined maneuver, wherein the notification of the opportunity to the vehicle user is in response to receiving an input signal indicative of a vehicle parameter; receiving a request signal indicative of a user request for execution of at least a portion of the defined maneuver using a maneuver output means controlled by the control means; and outputting, using a steering output means controlled by the control means, a steering signal for causing the vehicle to perform the defined maneuver in response to the request signal.

[0350] The vehicle parameter may be a non-speed parameter and may indicate at least one of a vehicle state and a vehicle position.

[0351] The method may include controlling the notification means to output a notification signal indicating an opportunity for execution of a portion of the defined maneuver without requiring user activation of the control means to solicit a determination of the opportunity.

[0352] The method can include notifying a user of the opportunity determination in response to receiving an input signal, the input signal including at least one of: 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 user's steering input; an event signal indicative of a vehicle event; and Location signals indicating the location of the vehicle.

[0353] The method can 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 a user of an opportunity in response to determining the user-initiated maneuver.

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

[0356] The vehicle envelope may include a target position suitable for accepting the vehicle at the defined maneuver completion position. The vehicle envelope may include the target defined maneuver completion position. The vehicle envelope may be determined in response to one-dimensional characteristics and / or measurements and / or estimations. The vehicle envelope may be determined in response to environmental signals indicating a length, such as an unobstructed length between features, where the unobstructed length is long enough to accept the vehicle at the defined maneuver completion position. The vehicle envelope may be determined in response to two-dimensional characteristics and / or measurements and / or estimations. For example, the vehicle envelope may be determined in response to environmental signals indicating a length, such as between features, where no obstacles are present along that length and at a particular width or extent perpendicular to that length. The particular width or extent may correspond to at least the width or extent of the vehicle, such as the width of the vehicle when the vehicle is parked and in a closed configuration, such as with the vehicle opening closed. The particular width or extent may correspond to at least the length of the vehicle, such as the length of the vehicle when the vehicle is parked and in a closed configuration, such as in a vertical, parking lot, or fishbone-shaped, angled parking position. The vehicle envelope can include at least one dimension of a parking area, and the defined maneuver completion 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.

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

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

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

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

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

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

[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 the mobile device indicating a user request to perform the defined maneuver.

[0365] 10th Technology According to one aspect of the present invention, a controller is provided that is configured to operably cause a vehicle to perform a defined maneuver to a defined maneuver completion position within a clearing, with the vehicle selectively offset within the clearing to the defined maneuver completion position.

[0366] According to one aspect of the present invention, there is provided a controller comprising: environmental input means for receiving environmental signals indicative of a location of at least one feature near the vehicle; control means configured to determine a clear space in response to the environmental signals, the control means configured to define at least one defined maneuver completion position for the vehicle within the clear space; user input means for receiving a request signal indicative of a user request; and output means for outputting a maneuver signal to cause the vehicle to perform the defined maneuver to the defined maneuver completion position, the control means configured to control the output means to selectively offset the defined maneuver completion position within the clear space. Advantageously, the defined maneuver can be performed 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 may include an electrical input for receiving a signal; The output means may include an electrical output for outputting a signal; The control means may comprise one or more control devices, such as electronic processing devices.

[0368] The defined maneuver may include a parking maneuver. The parking maneuver may include a park maneuver, such as parking in a stationary position within a space. The parking maneuver may include an unpark maneuver, such as moving from a stationary position out of a space. The defined maneuver completion position may include a park position.

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

[0370] The control means may be configured to selectively offset the defined maneuver completion position in response to a feature indicated by the environmental signal. Advantageously, the defined maneuver may be performed to a defined maneuver completion position that is offset towards or away from a particular feature.

[0371] The control means may be configured to selectively offset the defined maneuver completion position depending on the proximity of the feature to the vehicle as indicated by the environmental signal. Advantageously, the defined maneuver may be performed to position the vehicle at a predetermined distance, or at a minimum or maximum distance, from the feature.

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

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

[0374] The feature relative to which the vehicle is offset or the feature from which the vehicle is offset may include a feature for aligning with the vehicle. For example, the feature relative to which the vehicle is offset or the feature from which the vehicle is offset may include a feature adjacent to and / or aligned with the defined maneuver completion position. The control means may be configured to determine the feature as a feature for offsetting and / or aligning. The control means may be configured to determine whether the feature is an obstacle to avoid and / or a feature for aligning and / or offsetting the vehicle relative to it. For example, the control means may be configured to determine an orientation of the feature, such as an orientation of at least one surface of the feature and / or an axis (e.g., longitudinal direction) of the feature. The orientation of the feature may include an angle, such as an angle relative to the target-defined maneuver completion position and / or the longitudinal axis of the vehicle and / or the target space or envelope for receiving the vehicle. The control means may be configured to offset and / or align the vehicle with respect to the feature at an orientation including a particular angle. For example, the control means may be configured to offset and / or align the vehicle relative to a feature oriented at an angle (relative to the defined maneuver completion position and / or the vehicle's longitudinal axis) below a threshold. The control means may be configured to determine a feature having a particular orientation as the feature to align and / or offset. For example, the control means may be configured to align and offset the vehicle to the defined maneuver completion position, where the vehicle is aligned and offset relative to an adjacent feature, whereby the adjacent feature has an angular deviation of, for example, less than 5 degrees from the original target defined maneuver completion position. The control means may be configured to determine a feature having another particular orientation, such as above an angle threshold, as an obstacle to be avoided and / or maneuvered around.

[0375] The control means may be configured to determine a vacant lot. The control means may be configured to define at least one vehicle envelope within the vacant lot, the vehicle envelope 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 for the vehicle within the vacant lot.

[0376] The vehicle envelope may include a target position suitable for accepting the vehicle at the defined maneuver completion position. The vehicle envelope may include the target defined maneuver completion position. The vehicle envelope may be determined in response to one-dimensional characteristics and / or measurements and / or estimations. The vehicle envelope may be determined in response to environmental signals indicating a length, such as an unobstructed length between features, where the unobstructed length is long enough to accept the vehicle at the defined maneuver completion position. The vehicle envelope may be determined in response to two-dimensional characteristics and / or measurements and / or estimations. For example, the vehicle envelope may be determined in response to environmental signals indicating a length, such as between features, where no obstacles are present along that length and at a particular width or extent perpendicular to that length. The particular width or extent may correspond to at least the width or extent of the vehicle, such as the width of the vehicle when the vehicle is parked and in a closed configuration, such as with the vehicle opening closed. The particular width or extent may correspond to at least the length of the vehicle, such as the length of the vehicle when the vehicle is parked and in a closed configuration, such as in a vertical, parking lot, or fishbone-shaped, angled parking position. The vehicle envelope can include at least one dimension of a parking area, and the defined maneuver completion 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.

[0377] The control means may be configured to define at least two vehicle envelopes within the void, each vehicle envelope including a separately defined maneuver completion position offset within the void.

[0378] The vehicle envelopes may be non-overlapping, or alternatively, the vehicle envelopes may be overlapping.

[0379] The vehicle envelopes can be adjacent to one another and extend parallel along their respective longitudinal axes. Alternatively, the vehicle envelopes can extend along the same longitudinal axis, with a first vehicle envelope being longitudinally displaced along its longitudinal axis from a 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 a second vehicle envelope.

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

[0381] The controller may comprise memory means for storing data therein, and the control means is configured to selectively offset the defined maneuver completion position in response to the data. Advantageously, the controller may determine the offset parameters or criteria using historical data such as that associated with one or more of a particular location, scenario, user, and / or pattern.

[0382] The control means may be configured to adapt the defined maneuver completion position in response to an environmental signal indicative of a change in at least one feature near the vehicle. Advantageously, the defined maneuver may be adapted on the fly, such as in response to detection of an actual change in a feature, such as movement in the feature, and / or a change in the feature, such as discovery of a previously undetected parameter of the feature (e.g. a previously hidden or undetected void or protrusion, etc.).

[0383] The controller may comprise notification output means for outputting a notification signal to notify a user. The control means may be configured to control the notification output means to notify a 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 may be displayed and optionally provided to a user.

[0384] The request signal may represent a received signal indicative of a user request. The signal indicative of a user request may be received wired or wirelessly. Advantageously, in at least some examples, a user may request an offset, or at least a characteristic of the offset.

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

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

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

[0388] The system may comprise an environmental sensing means for determining the location of at least one feature in the vicinity of the vehicle.

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

[0390] According to one aspect of the present invention, a method is provided for controlling movement of a vehicle to perform a defined maneuver, the method including receiving an environmental signal indicating a location of at least one feature near the vehicle, determining a clear space in response to the environmental signal, defining at least one defined maneuver completion position for the vehicle within the clear space, selectively offsetting the defined maneuver completion position within the clear space, and outputting a maneuver signal to cause the vehicle to perform 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 the defined maneuver completion position in response to the request signal.

[0392] The method may include selectively offsetting the defined maneuver completion position in response to characteristics indicated by the environmental signal.

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

[0394] 11th Technology According to one aspect of the present invention, a controller is provided that is configured to operably cause a vehicle to execute a defined maneuver in a transition phase that can transfer control to a user to enable the vehicle to transition from the defined maneuver to user-controlled post-steer vehicle movement.

[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 to cause the vehicle to perform a defined maneuver to a defined maneuver completion position; and control means configured to control the output means to cause the vehicle to perform the defined maneuver, the control means configured to determine a transition stage of the defined maneuver at which control can be transferred to a user upon receipt of the user request signal to enable the vehicle to transition from the defined maneuver to a user-controlled post-maneuver vehicle movement. Advantageously, the defined maneuver can be performed with control transferred to the user before the defined maneuver is completed to the defined maneuver completion position.

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

[0397] The defined maneuver may include a parking maneuver. The parking maneuver may include a park maneuver, such as parking in a stationary position within a space. The parking maneuver may include an unpark maneuver, such as moving from a stationary position out of a space. The defined maneuver completion position may include a park position.

[0398] A transition phase may be defined between the transition location and the defined maneuver completion location, and the controller is configured to enable transfer of control to the user at any point in the transition phase between the transition location and the defined maneuver completion location. Advantageously, the transition phase is defined between two locations to provide multiple transition locations, thereby enabling transfer at multiple locations.

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

[0400] The control means may be configured to provide a gradual transfer of control to the user. Advantageously, assistance may be provided during the gradual transfer of control, such as to allow a smooth transition.

[0401] The control means may be configured to determine the transition phase such that no lateral change in vehicle movement 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 or reversal of steering wheel movement).

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

[0403] The controller may comprise input means for receiving environmental signals indicative of the location of one or more features near the vehicle. The control means is configured to determine a transition phase to correspond to a portion of a defined maneuver after dodging the feature near the vehicle. Advantageously, the control means may be configured to prevent transferring control to the user before dodging the feature, such as to prevent or mitigate 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 of the transition phase (e.g., before the transition phase). Advantageously, the control means may be configured to allow a user to interrupt the defined maneuver at any juncture. An override may interrupt the defined maneuver to cancel the defined maneuver.

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

[0406] The control means may be configured to allow control of the output signal to the motive power control means to be transferred to a user during at least the motive power control portion of the transition phase. Advantageously, the transition phase may define a particular portion during which control of the vehicle's speed or acceleration may be at least partially transferred.

[0407] The control means may be configured to allow control of the output signal to the steering control means to be transferred to the user during at least the steering control portion of the transition phase. Advantageously, the transition phase may define a specific portion during which control of steering of the vehicle may be at least partially transferred. The steering control portion may be different from the motive power control portion. In at least some examples, the initiation of allowing transfer of control of steering may be asynchronous with the initiation of allowing transfer of control of vehicle speed or acceleration. For example, if further steering is still required to avoid a nearby feature of the vehicle, but no change in longitudinal direction is required, at least partial control of vehicle speed may be transferred to the user, while control of steering remains entirely with or with the control means.

[0408] 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 represent a signal received wired or wirelessly indicative of a user request, such as from a user's mobile device. Advantageously, this may allow the vehicle to be effectively commanded from a user's mobile device, such as remotely by a user outside the vehicle.

[0409] The user may include a passenger. The user may include a driver of the vehicle. The user may be within the vehicle. The user may be outside the vehicle, such as for at least a portion 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 may be located within and / or outside the vehicle.

[0410] In the absence of user input during the transition phase, the control means may be configured to control the output means to control the vehicle to perform the defined maneuver up to the defined maneuver completion position, for later transferring control to the user after completion of the defined maneuver. Advantageously, the defined maneuver can be completed without requiring control transfer.

[0411] The control means may be configured to determine a vacant lot. The control means may be configured to define at least one vehicle envelope within the vacant lot, the vehicle envelope 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 for the vehicle within the vacant lot.

[0412] The vehicle envelope may include a target position suitable for accepting the vehicle at the defined maneuver completion position. The vehicle envelope may include the target defined maneuver completion position. The vehicle envelope may be determined in response to one-dimensional characteristics and / or measurements and / or estimations. The vehicle envelope may be determined in response to environmental signals indicating a length, such as an unobstructed length between features, where the unobstructed length is long enough to accept the vehicle at the defined maneuver completion position. The vehicle envelope may be determined in response to two-dimensional characteristics and / or measurements and / or estimations. For example, the vehicle envelope may be determined in response to environmental signals indicating a length, such as between features, where no obstacles are present along that length and at a particular width or extent perpendicular to that length. The particular width or extent may correspond to at least the width or extent of the vehicle, such as the width of the vehicle when the vehicle is parked and in a closed configuration, such as with the vehicle opening closed. The particular width or extent may correspond to at least the length of the vehicle, such as the length of the vehicle when the vehicle is parked and in a closed configuration, such as in a vertical, parking lot, or fishbone-shaped, angled parking position. The vehicle envelope can include at least one dimension of a parking area, and the defined maneuver completion 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.

[0413] The control means may be configured to define at least two vehicle envelopes within the void, each vehicle envelope including a separately defined maneuver completion position offset within the void.

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

[0415] The two vehicle envelopes can be adjacent to each other and extend parallel along their respective longitudinal axes. Alternatively, the two vehicle envelopes can extend along the same longitudinal axis, with the first vehicle envelope 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 the first vehicle envelope having its 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 a controller as described above configured to output steering signals, and actuator means for receiving steering signals to cause a vehicle to perform a defined maneuver.

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

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

[0419] The system may comprise receiver means for receiving signals indicative of user requests for vehicle movement and for outputting request signals in response. The receiver means may be for receiving wired and / or wireless signals indicative of user requests from a mobile device. Advantageously, user requests originating from outside the vehicle may be received to enable mode selection at least some of the time while an occupant is outside.

[0420] The system may include 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 movement of a vehicle to perform a defined maneuver, the method comprising: controlling an output means using a control means to cause the vehicle to perform the defined maneuver; determining a transition phase of the defined maneuver during which control can be transferred to a user upon receipt of a user control request signal; and transferring control to the user during the transition phase in response to receipt of the user control request signal to enable the vehicle to transition from the defined maneuver to user-controlled post-maneuver vehicle movement.

[0422] The method may include allowing 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, avoiding the features near the vehicle during a pre-transition phase of the defined maneuver, and initiating a transition phase after avoiding the features near the vehicle.

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

[0425] The method may include initiating a transition phase when the defined maneuver can be completed without changing the longitudinal motion of the vehicle.

[0426] The method may include receiving a signal from the 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] 12th Technology According to one aspect of the present invention, a controller is provided that is configured to operatively cause a vehicle to continue a user-initiated maneuver as a defined maneuver.

[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 vehicle to perform a defined maneuver; 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 to continue the user-initiated maneuver as the defined maneuver, wherein the control means is configured to control the steering output means to perform the defined maneuver from a user-initiated maneuver end position in response to the request signal. Advantageously, the controller can cause the vehicle to perform the defined maneuver from a non-specific defined maneuver start position, such as one that corresponds to an arbitrary user-initiated maneuver end position or one that is not a predetermined defined maneuver start position.

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

[0431] The defined maneuver may include a parking maneuver. The parking maneuver may include a park maneuver, such as parking in a stationary position within a space. The parking maneuver may include an unpark maneuver, such as moving from a stationary position out of a space. The defined maneuver completion position may include a park position.

[0432] A user-initiated maneuver can include a parking maneuver. A user-initiated parking maneuver can include a partial parking maneuver, such as into an incomplete parking position (e.g., not fully in or out of a parking space). A parking maneuver can include a park-in maneuver, such as parking in a stationary position within a space. A parking maneuver can include an unpark maneuver, such as moving from a stationary position out of a space. A user-initiated maneuver end position can include a stationary vehicle position.

[0433] The control means may be configured to detect performance of a user-initiated maneuver in response to the input signal. The control means may be configured to control the notification output means to notify the user of the control means' detection of the user-initiated maneuver. Advantageously, the user may be alerted to the possibility of performance of the defined maneuver.

[0434] The control means may be configured to control the notification output means to automatically output a notification signal upon detection by the control means of a user-initiated maneuver. The control means may be configured to offer continuation by the user as the defined maneuver. Advantageously, the user may be offered the possibility of performing the defined maneuver without necessarily explicitly requesting or asking for the possibility.

[0435] The control means may be configured to control the notification output means to output the notification signal independent of a user request to the maneuver output means controlled by the control means. Advantageously, the controller may be configured to automatically output the notification signal without requiring activation of the control means by the vehicle user. For example, the user may otherwise be unaware of the possibility of performing a defined maneuver (e.g., in a particular scenario), and thus, by allowing the notification signal to be output independent of a user request, it may be possible to provide the user with an increasing number of useful defined maneuver possibilities (e.g., compared to only those that the user had explicitly requested beforehand).

[0436] The control means may be configured to control the notification output means at least partly in response to input signals received prior to the user-initiated maneuver to the user-initiated maneuver end position. Advantageously, the control means may be able to determine from the previous input signals whether one or more defined maneuvers are possible (e.g. if the previous input signals included data that is no longer available via the corresponding input means).

[0437] The control means may be configurable to suppress the notification output means, such as not notifying the vehicle user of detection by the control means of a user-initiated maneuver. Advantageously, the user may customize the control means. For example, the control means may be configured to not notify the user in scenarios or types of scenarios where the user does not want to perform a defined maneuver (e.g., where the user's identity is different, such as when the vehicle driver is different).

[0438] The control means may be configured to control the maneuver output means to cause the vehicle to follow a planned trajectory from a user-initiated maneuver end position to a defined maneuver completion position. Advantageously, the control means is capable of predetermining a trajectory for the vehicle to perform the defined maneuver.

[0439] The planned trajectory may include at least a partial correction of a user-initiated maneuver that was performed prior to the user request. Advantageously, at least a portion of the user-initiated maneuver may be corrected or undone. For example, if the user improperly entered or partially entered a parking space or location in a user-initiated parking maneuver, such as at an improper vehicle angle relative to the parking space or location, the control means may be configured to more appropriately position the vehicle within the space or location and / or to move the vehicle out of the parking space or location (e.g., to resume parking as a defined maneuver).

[0440] The control means may be configured to control the steering output means to cause the vehicle to perform a reversal of at least a portion of a user-initiated steering performed prior to the defined maneuver.

[0441] The controller may comprise memory means for storing data internally, the memory means being arranged to store data received via the input means.

[0442] The stored data may represent defined maneuvers that have been previously performed.

[0443] The control means may be configured to control the steering output means to cause the vehicle to perform a repetition of at least a portion of a previously performed defined maneuver. The performance may be selective.

[0444] The control means may be configured to control the maneuver output means to cause the vehicle to perform at least a partial reversal of a previously performed defined maneuver. The reversal may include an opposite maneuver or a reversal. For example, the reversal may include an unpark maneuver of a previous park maneuver, or a park maneuver of a previous unpark maneuver.

[0445] The stored data may indicate previously performed user-initiated maneuvers.

[0446] The control means may be configured to control the notification output means to notify the user in response to a previously performed user-initiated maneuver being followed by the defined maneuver.

[0447] The control means may be configured to control the maneuver output means to execute the defined maneuver from a user-defined start position of the defined maneuver, the user-defined start position of the defined maneuver corresponding to a user-initiated maneuver end position. The start position of the defined maneuver may include intermediate maneuver positions, such as partially into or out of a vacant space.

[0448] The input means may be configured to receive a plurality of input signals from a plurality of input sources, the plurality of input signals being selected from at least the following: environmental signals that characterize the vicinity of the vehicle; an operation signal indicating the operation of the vehicle; a steering signal indicating a user's steering; an event signal indicative of a vehicle event; and Location signal showing geographic 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 represent a signal received wired or wirelessly indicative of a user request, such as from a user's mobile device. Advantageously, this may allow the vehicle to be effectively commanded from a user's mobile device, such as remotely by a user outside the vehicle.

[0450] The user may include a passenger. The user may include a driver of the vehicle. The user may be within the vehicle. The user may be outside the vehicle, such as for at least a portion 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 may be located within and / or outside the vehicle.

[0451] The control means may be configured to determine a vacant lot. The control means may be configured to define at least one vehicle envelope within the vacant lot, the vehicle envelope 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 for the vehicle within the vacant lot.

[0452] The vehicle envelope may include a target position suitable for accepting the vehicle at the defined maneuver completion position. The vehicle envelope may include the target defined maneuver completion position. The vehicle envelope may be determined in response to one-dimensional characteristics and / or measurements and / or estimations. The vehicle envelope may be determined in response to environmental signals indicating a length, such as an unobstructed length between features, where the unobstructed length is long enough to accept the vehicle at the defined maneuver completion position. The vehicle envelope may be determined in response to two-dimensional characteristics and / or measurements and / or estimations. For example, the vehicle envelope may be determined in response to environmental signals indicating a length, such as between features, where no obstacles are present along that length and at a particular width or extent perpendicular to that length. The particular width or extent may correspond to at least the width or extent of the vehicle, such as the width of the vehicle when the vehicle is parked and in a closed configuration, such as with the vehicle opening closed. The particular width or extent may correspond to at least the length of the vehicle, such as the length of the vehicle when the vehicle is parked and in a closed configuration, such as in a vertical, parking lot, or fishbone-shaped, angled parking position. The vehicle envelope can include at least one dimension of a parking area, and the defined maneuver completion 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.

[0453] The control means may be configured to define at least two vehicle envelopes within the void, each vehicle envelope including a separately defined maneuver completion position offset within the void.

[0454] The two vehicle envelopes may be non-overlapping, or the two vehicle envelopes may be overlapping.

[0455] The two vehicle envelopes can be adjacent to each other and extend parallel along their respective longitudinal axes. Alternatively, the two vehicle envelopes can extend along the same longitudinal axis, with the first vehicle envelope 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 the first vehicle envelope having its 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 a controller as described above configured to output steering signals, and actuator means for receiving steering signals to cause a vehicle to perform a defined maneuver.

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

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

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

[0460] According to one aspect of the present invention, there is provided a method of controlling movement of a vehicle to perform a defined maneuver, comprising the steps of: performing the user-initiated maneuver to a user-initiated maneuver end position; receiving a request signal indicating a user request to transfer control from the user to the control means to continue the user-initiated maneuver as a defined maneuver; and controlling, with the control means, the steering output means to output a steering signal for causing the vehicle to execute the defined maneuver from the user-initiated maneuver end position.

[0461] The method may include receiving an input signal and outputting a notification signal to notify a user.

[0462] The method may include detecting a user-initiated maneuver using the control means in response to the input signal, notifying the user of the detection by the control means of the user-initiated maneuver, and providing a transfer of control to the control means for continuation of the user-initiated maneuver as a defined maneuver.

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

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

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

[0466] For all techniques, according to an aspect of the invention there is provided a vehicle comprising a controller according to an aspect of the invention, a system according to an aspect of the invention or configured to carry out a method according to an aspect of the invention.

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

[0468] Any controller or controllers described herein may suitably comprise a control unit or computing device having one or more electronic processors. Thus, a system may comprise a single control unit or electronic controller, or various functions of a controller may be embodied or hosted in various control units or controllers. As used herein, the term "controller" or "control unit" is understood to include both a single control unit or controller and multiple control units or controllers in a control system that collectively operate to provide any described control function. To configure a controller, a suitable set of instructions may be provided that, when executed, causes the control unit or computing device to implement the control techniques specified herein. The set of instructions may be suitably embedded in the one or more electronic processors. Alternatively, the set of instructions may be provided as software stored on one or more memories associated with the controller that execute on the computing device. A first controller may be implemented in software running on one or more processors. One or more other controllers may be implemented in software running on one or more processors, optionally the same processor(s) as the first controller. Other suitable configurations may also be used.

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

[0470] The twelve key technologies identified above can be used individually or together in any practical combination. [Brief explanation of the drawings]

[0471] One or more embodiments of the present invention will now be described, by way of example only, with reference to the accompanying drawings, in which:

[0472] [Figure 1a] FIG. 1 illustrates a vehicle in relation to features near the vehicle. [Figure 1b] FIG. 10 illustrates a vehicle in relation to features near the vehicle in another scenario. [Figure 2] FIG. 2 illustrates a controller according to one embodiment of the present invention. [Figure 3] FIG. 1 illustrates a system according to one embodiment of the present invention. [Figure 4] FIG. 1 illustrates a method according to one embodiment of the present invention. [Figure 5] 1 is a diagram illustrating a vehicle according to an embodiment of the present invention. [Figure 6] 1 is a diagram of a vehicle according to one embodiment of the present invention; [Figure 7a] FIG. 1 illustrates a vehicle in relation to features near the vehicle. [Figure 7b] FIG. 10 illustrates a vehicle associated with a feature in another scenario. [Figure 7c] FIG. 10 illustrates a vehicle associated with a feature in another scenario. [Figure 8] FIG. 2 illustrates a controller according to one embodiment of the present invention. [Figure 9] FIG. 1 illustrates a system according to one embodiment of the present invention. [Figure 10] FIG. 1 illustrates a method according to one embodiment of the present invention. [Figure 11a] 7b shows a vehicle according to an embodiment of the present invention in a scenario based on the scenario of FIG. 7a. [Figure 11b] 7b illustrates a vehicle according to an embodiment of the present invention in a scenario based on the scenario of FIG. 7b. [Figure 11c] FIG. 7B illustrates a vehicle in a scenario based on the scenario of FIG. 7C. [Figure 11d] FIG. 7B is another diagram showing vehicles in a scenario based on the scenario of FIG. 7C. [Figure 11e] FIG. 7B is another diagram showing vehicles in a scenario based on the scenario of FIG. 7C. [Figure 12] 1 is a diagram of a vehicle according to one embodiment of the present invention; [Figure 13a] FIG. 1 illustrates a vehicle in relation to features near the vehicle. [Figure 13b] FIG. 10 illustrates a vehicle in relation to features near the vehicle in another scenario. [Figure 14] FIG. 2 illustrates a controller according to one embodiment of the present invention. [Figure 15] FIG. 1 illustrates a system according to one embodiment of the present invention. [Figure 16] FIG. 1 illustrates a method according to one embodiment of the present invention. [Figure 17a] 1 is a diagram illustrating the movement of a vehicle according to one embodiment of the present invention; [Figure 17b] 1 is a diagram illustrating the movement of a vehicle according to one embodiment of the present invention; [Figure 18] 1 is a diagram of a vehicle according to one embodiment of the present invention; [Figure 19] FIG. 1 illustrates a vehicle with ambient conditions near the vehicle. [Figure 20] FIG. 2 illustrates a controller according to one embodiment of the present invention. [Figure 21] FIG. 1 illustrates a system according to one embodiment of the present invention. [Figure 22] FIG. 1 illustrates a method according to one embodiment of the present invention. [Figure 23] 1 is a diagram illustrating a vehicle according to an embodiment of the present invention. [Figure 24] 1 is a diagram of a vehicle according to one embodiment of the present invention; [Figure 25a] FIG. 1 illustrates a vehicle in relation to features near the vehicle. [Figure 25b] FIG. 10 illustrates a vehicle in relation to features near the vehicle in another scenario. [Figure 26] FIG. 2 illustrates a controller according to one embodiment of the present invention. [Figure 27] FIG. 1 illustrates a system according to one embodiment of the present invention. [Figure 28] FIG. 1 illustrates a method according to one embodiment of the present invention. [Figure 29a] 1 is a diagram illustrating the movement of a vehicle according to one embodiment of the present invention; [Figure 29b] FIG. 10 illustrates the movement of vehicles in another scenario. [Figure 30] 1 is a diagram of a vehicle according to one embodiment of the present invention; [Figure 31] FIG. 1 illustrates a vehicle in relation to terrain near the vehicle. [Figure 32] FIG. 2 illustrates a controller according to one embodiment of the present invention. [Figure 33] FIG. 1 illustrates a system according to one embodiment of the present invention. [Figure 34] FIG. 1 illustrates a method according to one embodiment of the present invention. [Figure 35] 1 is a diagram illustrating a vehicle according to an embodiment of the present invention. [Figure 36] 1 is a diagram of a vehicle according to one embodiment of the present invention; [Figure 37a] FIG. 1 illustrates a vehicle in relation to features near the vehicle. [Figure 37b] FIG. 10 illustrates a vehicle in relation to features near the vehicle in another scenario. [Figure 38] FIG. 2 illustrates a controller according to one embodiment of the present invention. [Figure 39] FIG. 1 illustrates a system according to one embodiment of the present invention. [Figure 40] FIG. 1 illustrates a method according to one embodiment of the present invention. [Figure 41a] FIG. 1 illustrates a vehicle performing a defined maneuver, according to one embodiment of the present invention. [Figure 41b] 1 is a diagram illustrating a vehicle performing a defined maneuver, according to one embodiment of the present invention. FIG. [Figure 41c] 1 is a diagram illustrating a vehicle performing a defined maneuver, according to one embodiment of the present invention. FIG. [Figure 41d] 1 is a diagram illustrating a vehicle performing a defined maneuver, according to one embodiment of the present invention. FIG. [Figure 41e] 1 is a diagram illustrating a vehicle performing a defined maneuver, according to one embodiment of the present invention. FIG. [Figure 41f] This figure shows the vehicle after performing part of a defined maneuver, as an alternative to what is shown in Figures 41d and 41e. [Figure 41g] FIG. 37b shows the position of the vehicle after a vehicle movement according to an embodiment of the present invention in a scenario similar to that of FIG. [Figure 41h] FIG. 37b shows the position of the vehicle after another movement of the vehicle to one embodiment of the present invention in a scenario similar to that of FIG. 37b. [Figure 41i] FIG. 10 illustrates the position of a vehicle after a defined maneuver in another scenario, according to an embodiment of the present invention. [Figure 41j] A figure showing the position of a vehicle according to one embodiment of the present invention after a defined maneuver in a scenario similar to that of Figure 41i. [Figure 42] 1 is a diagram of a vehicle according to one embodiment of the present invention; [Figure 43] FIG. 1 illustrates a vehicle in relation to features near the vehicle. [Figure 44] FIG. 2 illustrates a controller according to one embodiment of the present invention. [Figure 45] FIG. 1 illustrates a system according to one embodiment of the present invention. [Figure 46] FIG. 1 illustrates a method according to one embodiment of the present invention. [Figure 47a] 1 is a diagram illustrating the movement of a vehicle according to one embodiment of the present invention; [Figure 47b] FIG. 4 is another diagram illustrating vehicle movement according to one embodiment of the present invention. [Figure 47c] FIG. 4 is another diagram illustrating vehicle movement according to one embodiment of the present invention. [Figure 47d] FIG. 4 is another diagram illustrating vehicle movement according to one embodiment of the present invention. [Figure 48] 1 is a diagram of a vehicle according to one embodiment of the present invention; [Figure 49a] FIG. 1 illustrates a vehicle in relation to features near the vehicle. [Figure 49b] FIG. 10 illustrates a vehicle in relation to features near the vehicle in another scenario. [Figure 50] FIG. 2 illustrates a controller according to one embodiment of the present invention. [Figure 51] FIG. 1 illustrates a system according to one embodiment of the present invention. [Figure 52] FIG. 1 illustrates a method according to one embodiment of the present invention. [Figure 53a] 1 is a diagram illustrating the movement of a vehicle according to one embodiment of the present invention; [Figure 53b] FIG. 10 illustrates the movement of a vehicle according to an embodiment of the present invention in another scenario. [Figure 54] 1 is a diagram of a vehicle according to one embodiment of the present invention; [Figure 55a] FIG. 1 illustrates a vehicle in relation to features near the vehicle. [Figure 55b] FIG. 10 illustrates a vehicle associated with a feature in another scenario. [Figure 56]FIG. 2 illustrates a controller according to one embodiment of the present invention. [Figure 57] FIG. 1 illustrates a system according to one embodiment of the present invention. [Figure 58] FIG. 1 illustrates a method according to one embodiment of the present invention. [Figure 59a] FIG. 55b illustrates a vehicle according to an embodiment of the present invention in a scenario based on the scenario of FIG. 55a. [Figure 59b] FIG. 55b shows a vehicle in a scenario based on the scenario of FIG. [Figure 59c] FIG. 55b is another diagram showing vehicles in a scenario based on the scenario of FIG. [Figure 59d] FIG. 55b is another diagram showing vehicles in a scenario based on the scenario of FIG. [Figure 60] 1 is a diagram of a vehicle according to one embodiment of the present invention; [Figure 61] FIG. 1 illustrates a vehicle in relation to features near the vehicle. [Figure 62] FIG. 2 illustrates a controller according to one embodiment of the present invention. [Figure 63] FIG. 1 illustrates a system according to one embodiment of the present invention. [Figure 64] FIG. 1 illustrates a method according to one embodiment of the present invention. [Figure 65a] FIG. 62 shows a vehicle performing a maneuver defined based on the scenario of FIG. 61. [Figure 65b] The next figure shows a vehicle performing a maneuver defined based on the scenario of Figure 61. [Figure 65c] The next figure shows a vehicle performing a maneuver defined based on the scenario of Figure 61. [Figure 65d] The next figure shows a vehicle performing a maneuver defined based on the scenario of Figure 61. [Figure 66] 1 is a diagram of a vehicle according to one embodiment of the present invention; [Figure 67a] FIG. 1 illustrates a vehicle in relation to features near the vehicle. [Figure 67b]FIG. 10 illustrates a vehicle in relation to features near the vehicle in another scenario. [Figure 68] FIG. 2 illustrates a controller according to one embodiment of the present invention. [Figure 69] FIG. 1 illustrates a system according to one embodiment of the present invention. [Figure 70] FIG. 1 illustrates a method according to one embodiment of the present invention. [Figure 71a] 1 is a diagram illustrating the movement of a vehicle according to one embodiment of the present invention; [Figure 71b] FIG. 10 illustrates the movement of a vehicle according to an embodiment of the present invention in another scenario. [Figure 72] 1 is a diagram of a vehicle according to one embodiment of the present invention; DETAILED DESCRIPTION OF THE INVENTION

[0473] First Technology 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 features 1125 near the vehicle 1110, as will be described below.

[0474] In FIG. 1(a), the vehicle 1110 is in a defined maneuver completion position where the defined maneuver was performed in occupant on-board mode. The defined maneuver completion position in FIG. 1(a) is intended to be a parking position for the vehicle 1110 where occupants can enter or exit the vehicle 1110 through a vehicle opening accessed by 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 an object, in this example, a wall that is approximately parallel to the central longitudinal axis 1112 of the vehicle 1110 at the defined maneuver completion position, i.e., approximately parallel to a side of the vehicle 1110, such as the left side here. The object is not limited to being a wall 1125 and could be, for example, a bollard, wall, or other object at, on, or adjacent to the ground of the vehicle 1110, such as a road. At the defined maneuver completion position, separation 1192 is provided between the vehicle 1110 in the closed configuration. In FIG. 1(a), separation 1192 is such as to allow vehicle opening member 1188 to be opened, and is shown here with separation 1190 between vehicle 1110 in the open configuration of FIG. 1(a) and a nearby feature, here shown as an adjacent object 1140 such as an adjacent vehicle.

[0475] In FIG. 1(b), the vehicle 1110 is in a position intended to be a parking location for the vehicle 1110, where access to or through the vehicle opening is limited. The vehicle 1110 is again shown in FIG. 1(b) in relation to a feature 1125 near the vehicle 1110 and an adjacent object 1140, where the adjacent object 1140 and feature 1125 are closer than in FIG. 1(a), resulting in a smaller open space 1172 between them and a smaller vehicle envelope 1174. In the scenario shown in FIG. 1(b), opening of the vehicle opening member 1188 is blocked or at least limited by the adjacent feature 1125 and object 1140, causing the vehicle 1110 to be shown in a closed configuration in FIG. 1(b). Accordingly, occupants may have difficulty or even be prevented from entering or exiting the vehicle.

[0476] Embodiments of the present invention aim to ameliorate one or both of these problems.

[0477] 1(a) and 1(b), it will be understood that the defined maneuver may be a maneuver of the vehicle 1110 that is performed automatically by the vehicle 1110, i.e., under the control of one or more systems of the vehicle 1110. The defined maneuver may be considered to be performed automatically, or at least semi-autonomously, by the vehicle 1110. In FIGS. 1(a) and 1(b), the defined maneuver may be a parking maneuver for controlling the vehicle 1110 to drive into a parking structure or parking spot bounded by adjacent features 1125 and objects 1140.

[0478] To perform the defined maneuver, the vehicle 1110 includes environmental sensing means for determining the location of features 1125 near the vehicle 1110. The environmental sensing means may include one or more sensing or imaging devices. The one or more sensing devices may emit radiation and receive reflected radiation from features near the vehicle, such as ultrasonic sensing devices, although it will be understood that the invention is not limited in this respect. Such environmental sensing means has a minimum distance at which the location of the features 1125 can be accurately determined, depending, for example, on the resolution of the imaging device or the signal-to-noise ratio of the sensing device.

[0479] The characteristic or characteristics sensed by the environmental sensing means may be such that it has a real and / or perceived effect on the performance of the defined maneuver, such as physically and / or psychologically affecting the user's experience of performing the defined maneuver.

[0480] In Figure 1(a), the vehicle 1110 is in a defined completed maneuver position with the defined maneuver performed in passenger in-vehicle mode. In Figure 1(b), the vehicle 1110 is in a defined completed maneuver position with the defined maneuver performed in passenger out-vehicle mode, which is intended as a parked position for the vehicle 1110 with limited access to or through the vehicle opening.

[0481] In both situations, it may be advantageous for the maneuver or maneuvers to be performed while the person controlling the vehicle 1110 is outside the vehicle 1110. For example, access to the vehicle 1110 may be limited in FIG. 1(a) or FIG. 1(b) after performing the defined maneuver (e.g., if the feature 1125 is a wall or other obstacle to opening the vehicle door). In some scenarios, subsequent performance of the defined maneuver, such as unparking the vehicle 1110, may be performed in a different availability mode. For example, if the defined maneuver can be performed with occupants located inside or outside the vehicle 1110 to the defined maneuver completion position in FIG. 1(a), the occupant on-board mode or modes may not be available if the 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.

[0482] 1(a) and 1(b), the vehicle 1110 is shown as having a vehicle forward direction indicated by arrow 1114, as can be seen particularly in FIG. 1(b), and the vehicle envelope 1174 can correspond to the vacant location 1172. As will be further described, characteristics of the vacant location 1172, such as dimensions, can be crucial to the suitability of one or more modes for executing the defined maneuver. As will be described herein, the control means need not distinguish or specifically differentiate between the vacant location 1172 and the vehicle envelope 1174. Thus, evaluation of the suitability of one or more modes can be based solely on the vacant location 1172 or the vehicle envelope 1174, without requiring separate steps for each of the vacant location 1172 and the vehicle envelope 1174. For example, the control means is configured to determine that the vacant location 1172 is of a size or dimensions sufficient to essentially include a vehicle envelope 1174 suitable for receiving the vehicle 1110 at a defined maneuver completion position in a first mode, such as a passenger-out mode. The control means is configured to determine whether a sufficient dimension or dimensions of the vacant space 1172 are large enough to allow it to receive the vehicle 1110 at the defined maneuver completion position with access to or through one or more vehicle openings so that it may also be suitable for a second mode, such as a passenger onboard mode.

[0483] FIG. 2 illustrates a controller 1200 or control unit 1200 according to one embodiment of the present invention, such as that included in the vehicle 1110 of FIG.

[0484] The controller 1200 comprises a control means 1210, an input means 1230, and an output means 1240. In some embodiments, the controller comprises a memory means 1220, such as one or more memory devices 1220 for storing data internally. The output means 1240 may include an electrical output for outputting steering signals. The steering signals represent instructions for the vehicle 1110 to move.

[0485] Here, the input means 1230 is for receiving environmental signals indicative of features 1125, 1140 near the vehicle 1110. The control means 1210 is configured to control the output means 1240 to cause the vehicle 1110 to perform at least a portion of the defined maneuver in response to the environmental signals. Here, the controller includes second output means for outputting a mode signal indicative of a selectable mode. The control means is configured to output a mode signal indicative of a plurality of modes. The mode for performing the defined maneuver is selectable by a user from a plurality of selectable modes in response to the mode signal. In at least some examples, the second output means includes notification output means. Advantageously, the user can be notified of the availability of one or more modes, and, if available, the user can select a preferred mode. For example, before performing the defined maneuver to the defined maneuver completion position of FIG. 1(b) or thereafter, the user can be notified of one or more off-vehicle modes for performing the defined maneuver. Similarly, prior to performing a defined maneuver to or from the defined maneuver completion position of FIG. 1(a), the user may be notified of the availability of one or more modes, both passenger-extraneous and passenger-intraneous, for performing the defined maneuver or the maneuver.

[0486] Here, the control means 1210 is configured to provide a mode signal indicating that no modes are available, corresponding to the vehicle envelope 1174 being unsuitable for accommodating the vehicle 1110. The user is thus made aware by the notification that a vehicle envelope or vacant location has been identified but is unsuitable for performing the defined maneuver. For example, this may be the case if the vehicle envelope is too small even in the passenger-exit mode for performing the defined maneuver (e.g., whereby adjacent features 1125 and object 1140 are closer to each other than in FIG. 1(b) and do not have sufficient dimensions to accommodate or accommodate the vehicle 1110 even in the closed configuration).

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

[0488] Once in a defined maneuver completion position (e.g., Figure 1(a) or Figure 1(b)), the user will typically apply the parking brake and turn off the engine to bring the vehicle to a standstill.

[0489] The control means 1210 may be formed by one or more electronic processing devices, such as an electronic processor. The processor may operatively 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 steering signals in response to environmental signals, as described below. 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 include an interface with a network that forms a communication bus for the vehicle. The communication bus may be a communication bus, such as Ethernet, using an appropriate communication protocol, such as Internet Protocol (IP), although embodiments of the present invention are not limited in this respect.

[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 comprises a further input means for receiving a request signal indicative of a received signal indicative of a user request. The request signal may represent a signal received wired or wirelessly indicative of a user request, such as from a user's mobile device. Advantageously, this may allow the vehicle to be effectively commanded, such as remotely, from the user's mobile device. The user request may include a mode selection.

[0491] The user may include a passenger. The user may include a driver of the vehicle. The user may be within the vehicle. The user may be outside the vehicle, such as for at least a portion 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 may be located within and / or outside the vehicle.

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

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

[0494] The system 1300 includes an environmental sensing means 1330 for determining information about the environment of the vehicle 1110. In particular, the environmental sensing means 1330 is provided for determining the location of one or more features near the 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 may be stored in 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, ultrasonic devices, sonar devices, etc. The signals output by each of the sensing devices may be used to form a representation of the environment of the vehicle 1110 that is stored in memory for use by other systems of the vehicle 1110.

[0495] Here, the vehicle 1110 includes environmental sensing means for determining the location of at least one feature near the vehicle 1110 and outputting an environmental signal indicative thereof. The environmental sensing means is configured to determine the location of features such as surface markings, which may be painted lines indicating the perimeter of a parking lot, or objects such as walls, posts, or other vehicles with which the vehicle is required to maneuver. The control means is configured to determine, in response to the environmental signal, an absence of features, such as separations between adjacent features 1125 and obstructing features, such as object 1140 shown here. Accordingly, the control means is configured to determine an empty space 1172 where features such as obstructing features are not located. If the empty space 1172 is sufficiently large, the control means is configured to determine a vehicle envelope 1174 suitable for receiving the vehicle 1110 at the 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 the target defined maneuver completion position. In at least this example, the vehicle envelope 1174 is determined in response to one-dimensional characteristics and / or measurements and / or estimations. In particular here, the vehicle envelope 1174 is determined in response to environmental signals indicative of a length, such as an unobstructed length between features 1125, 1140. The unobstructed length is a length sufficient to accommodate the vehicle 1110 at a defined maneuver completion position, where the length is a 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 a defined steering 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 the one or more defined maneuvers. The defined steering means may be associated with one or more actuators 1350 of the vehicle 1110. One or more actuators 1350 are provided to effect movement of the vehicle 1110. The actuators 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 a powertrain of the vehicle. The controller 1210 is configured to control steering of the wheels 1180 relative to the feature.

[0497] The illustrated system 1300 includes a motive power control means 1320. The motive power control means 1320 may be a motive power control unit. The motive power control means 1320 is configured to receive the steering signals output by the controller 1210. The motive power control means 1320 is associated with one or more motive power units of the vehicle 1110, which may form part of a powertrain (not shown) of the vehicle 1110. The motive power units may include one or more of an internal combustion engine and one or more electric machines of the vehicle 1110. The powertrain is configured to provide power or torque to cause movement of the longitudinal axis of the vehicle 1110, i.e., moving the vehicle 1110 forward or backward, in response to the steering signals received from the controller 1210. The motive power 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 generally forward or backward. Torque may include driving torque, i.e., torque applied in the direction of desired movement, such as forward. Torque may also include braking torque, i.e., torque applied to resist driving torque. In at least some embodiments, both driving torque and braking torque may be applied simultaneously to provide slow movement of the vehicle 1110. Braking torque may also be applied at least partially after the driving torque to effect precise movement of the vehicle 1110. To achieve steering control, the controller 1210 may communicate with the motive force control means 1320. Thus, one or more actuators 1350 may control the direction and movement of the vehicle to perform a defined maneuver. The defined maneuver is performed in response to environmental signals provided by the environmental sensing means 1330.

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

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

[0500] The receiver means 1310 may be in the form of a radio unit 1310. The radio unit 1310 may comprise a receiver for receiving wireless signals 1305 from the mobile device 1390. In some embodiments, the radio unit 1310 may also comprise a transmitter or may be a transceiver 1310 configured to receive wireless signals 1305 transmitted from the mobile device 1390 and transmit signals to the mobile device 1390. The radio unit 1103 and the mobile device 1390 may be configured to provide a wireless local area network via which bidirectional communication can occur between the radio unit 1103 and the mobile device 1390. For example, the radio unit 1103 may be configured to communicate with the mobile device 1390 via WiFi (RTM). In alternative embodiments, other wireless communication standards may be used for communication. In one example, communication between the radio unit 1103 and the mobile device 1390 is provided via Bluetooth (RTM), although other protocols or standards may be envisioned.

[0501] Mobile device 1390 can be an electronic key fob associated with vehicle 1110 and can be used, for example, to gain entry and start or power up vehicle 1110. Mobile device 1390, in other embodiments, can be an electronic device associated with a person in charge of vehicle 1100, such as a cell phone, tablet, watch, wearable electronic device, or other computing device associated with a person. Mobile device 1390 can receive user input indicating a person's desire to move vehicle 1110. 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.

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

[0503] The method 1400 broadly comprises the following steps: receiving 1410 from the environmental sensing means 1330 an environmental signal indicative of features 1125, 1140 near the vehicle 1110, and responsively determining 1420 the presence of an envelope suitable for accepting the vehicle in one or more modes of execution of the defined maneuver. The control means identifies 1430 whether multiple modes are suitable. If multiple modes are suitable, a mode signal is output indicating a mode of execution suitable for executing the defined maneuver. Upon mode selection 1435, the control means controls the execution of the defined maneuver 1440.

[0504] 4, the illustrated embodiment of method 1400 includes receiving 1410 an environmental signal from environmental sensing means 1330. Controller 1210 determines 1420 whether the environmental signal indicates one or more features 1125 near the vehicle 1110 corresponding to a suitable vehicle envelope. If no suitable mode is available, the defined maneuver is not executed. In at least some examples, such non-executability or unavailability is communicated to the user (e.g., the user is informed that no suitable vehicle envelope or vacant location is available, or that only an inappropriate vehicle envelope or vacant location has been detected).

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

[0506] A mode may be explicitly selected via user input, such as selection via an interface. In at least some examples, mode selection may be via user action. For example, if an occupant out-of-vehicle mode is available, selection of that mode may be accomplished at least in part by an occupant transitioning from an in-vehicle location to an out-of-vehicle location. Such a transition may be detected automatically, such as via a vehicle system (e.g., seat sensor, door sensor, motion sensor, etc.). Similarly, selection may be via a vehicle system, such as activation of an accelerator, gear selection, switch, brake, indicator, etc.

[0507] The controller 1210 may be configured to allow user adaptation. For example, a user may be able to at least partially override, program, or adjust the controller 1210 for one or more of the following: provision of an angular offset, a tilt threshold for providing an angular offset, one or more locations when an angular offset is provided, the direction of the angular offset, and the angle of the angular offset. The controller 1210 may be configured to be manually overridden, programmed, or adjusted to adjust the output of steering signals. Additionally or alternatively, the controller 1210 may be configured to automatically or semi-automatically override, program, or adjust the output of steering signals, such as by learning from user behavior, such as repeated user behavior, associated with one or more of an input pattern, a geographic location, or a user identification (e.g., if the vehicle 1110 is used non-simultaneously by multiple users). For example, the controller 1210 may be configured to not provide a mode when the vehicle is located in a particular location, such as a home or garage, where a user has previously overridden, canceled, or rejected that mode.

[0508] In FIG. 5 , the vehicle 1110 is shown as being located at a defined maneuver completion position within a vehicle envelope 1174 defined within a clear space 1172 bounded by adjacent features 1125, 1140, similar to FIGS. 1( a) and 1(b). In FIG. 5 , the vehicle 1110 is shown at the defined maneuver completion position, where the vehicle 1110 is in a closed configuration with separation between the vehicle 1110 and adjacent features 1125, 1140 on each side of the vehicle 1110, respectively. As shown here, the closed configuration of the vehicle 1110 includes a folded position of a movable protrusion 1182 of the vehicle 1110, shown here as a side mirror. As shown here, the defined maneuver performed to reach the defined maneuver completion position of FIG. 5 was performed with the vehicle in an occupant-out-of-vehicle mode. Here, the defined maneuver into the position of FIG. 5 was performed with the occupant located outside the vehicle during at least the final portion of the defined maneuver. As can be appreciated, the dimensions of the vehicle envelope 1174 defined by the void 1172 are such that at least some of the vehicle opening members 1188 are inaccessible or at least cannot be fully opened. Thus, access to and from the vehicle openings through the vehicle opening members 1188 is prevented. Furthermore, the dimensions of the vehicle envelope 1174 defined by the void 1172 are such that execution of the defined maneuver would have been impeded or could have been hindered by the vehicle protrusion 1182 in an extended position, such as the extended position of the vehicle protrusion 1182 shown in FIGS. 1(a) and 1(b). Thus, execution of the defined maneuver to reach the defined maneuver completion position of FIG. 5 involved changing the position of the movable protrusion 1182 before or during the defined maneuver in response to an environmental signal. Here, the mode of execution for executing the defined maneuver includes a folded protrusion mode of the vehicle.

[0509] As a result of method 1400, the vehicle may be more advantageously positioned or configured after execution of the defined maneuver. For example, occupants may be prevented from becoming trapped in the vehicle or from causing damage to 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 selectable modes for performing portions of the maneuver as a defined maneuver even when parking or being driven by a human driver. For example, identifying modes available to the user may indicate the accessibility of openings in the vehicle and assist the user in selecting execution of the maneuver (e.g., the user may select to manually perform the parking maneuver when notified that an occupant in-vehicle mode is available).

[0510] Second Technology 7a, 7b, and 7c illustrate a vehicle 2110 according to an embodiment of the present invention in three scenarios. In FIGS. 7a and 7b, the vehicle 2110 is shown with a vehicle forward direction indicated by arrow 2114, which is shown parallel to a central longitudinal axis 2112 of the vehicle 2110. In the illustrated scenarios, the vehicle 2110 is shown at a defined maneuver start position. In the particular scenario illustrated in FIGS. 7a, 7b, and 7c, it may be desirable to perform a defined maneuver to park the vehicle 2110 at a defined maneuver completion position within a vacant lot 2172.

[0511] In Figures 7a, 7b, and 7c, the vehicle 2110 is shown adjacent to a vacant space 2172, where a defined maneuver is being performed with the vehicle 2110 performing the defined parking maneuver to enter the vacant space 2172. In Figure 7a, the vehicle 2110 is shown in relation to a feature 2125 near the vehicle 2110. The feature 2125 is an object, in this example a wall, that is parallel to the longitudinal axis 2112 of the vehicle 2110, i.e., generally parallel to the side of the vehicle 2110, such as the left side, in the defined maneuver completed position. The object is not limited to being a wall 2125, but may be, for example, a bollard, fence, barrier, or other object that is at or adjacent to the vacant space 2172 to form a boundary therefor. As shown in Figures 7a, 7b, and 7c, another feature 2140 in the form of a stationary vehicle bounds the edge of the vacant space 2172. Similarly, another feature 2150 in the form of another stationary vehicle bounds the opposite end of the void 2172. It will be understood that in each scenario, there may be additional boundaries or limitations to the void 2172, although not shown (e.g., in Figures 7b and 7c, there may be a wall feature similar to 2125 in Figure 7a). It will be understood that, although shown here in plan view, the depicted scenario is three-dimensional.

[0512] As can be seen particularly from FIG. 7c, this may be unclear and / or there may be multiple options for directing the vehicle into the space indicated by the vacant location 2172.

[0513] Embodiments of the present invention aim to ameliorate such problems.

[0514] It will be appreciated that in the scenarios shown in Figures 7a, 7b, and 7c, the defined maneuver may be a maneuver of the vehicle 2110 that is automatically performed by the vehicle 2110, i.e., that is under the control of one or more systems of the vehicle 2110. The defined maneuver may be considered to be performed automatically, or at least semi-autonomously, by the vehicle 2110. As shown in Figures 7a, 7b, and 7c, the defined maneuver may be a parking maneuver for controlling the vehicle 2110 to drive into a parking spot.

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

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

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

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

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

[0520] The control means 2210 is configured to determine, in response to the environmental signals, an orientation of the defined maneuver completion position of the vehicle 2110. The output means 2240 is for outputting the possible defined maneuver completion position signal in response 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 signals.

[0521] Here, the controller 2200 comprises 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 is selectable by a user from a plurality of selectable possible defined maneuver completion positions in response to the possible defined maneuver completion position signal. Advantageously, the user may be notified of the availability of one or more target defined maneuver completion positions, and, if available, the user may be enabled to select the preferred target defined maneuver completion position. For example, the user may be provided with the possibility of the vehicle 2110 turning parallel backward in the scenario of FIG. 7c, as shown by the dashed line in FIG. 11c.

[0522] In at least some examples, the control means 2210 is configured to provide a notification signal indicating that there are no possible defined maneuver completion positions, corresponding to a scenario (not shown) in which the vacant space 2172 is not suitable to accommodate the vehicle 2110 when performing the defined maneuver. Thus, the user is made aware by the notification that an vacant space has been identified but is inappropriate for performing the defined maneuver. For example, this may be the case when the vacant space is too small for performing the defined maneuver (e.g., whereby adjacent features 2125 and objects 2140, 2150 are closer to each other than in FIG. 7 a and do not have sufficient dimensions to accommodate or accommodate the vehicle 2110 even in the closed configuration).

[0523] The control means 2210 may be formed by one or more electronic processing devices, such as an electronic processor. The processor may operatively 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 possible defined maneuver completion position signals in response to environmental signals, as described below. 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 comprise 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, although embodiments of the present invention are not limited in this respect. The input means 2230 may include an electrical input for receiving environmental signals.

[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 vacant locations 2172 for future use. For example, if an occupant or user of the vehicle 2110 actively selects (e.g., by inputting one or more parameter inputs) or implicitly indicates (e.g., through repeated behavior or usage patterns) a preference regarding a target-defined maneuver completion position and / or orientation for one or more scenarios, the memory means can store data corresponding to the preference to provide a default and / or automatic target-defined maneuver completion position and / or orientation in response to inputs (e.g., environmental signals and / or location signals, etc.) indicative of such or similar scenarios aligned with the preference or preferences.

[0525] Data may be stored before and during the execution of a defined maneuver for use during execution of the defined maneuver. Additionally, or alternatively, data may be stored for use during a subsequent defined maneuver. For example, if data is stored before or during the execution of a defined maneuver to reach a defined maneuver completion position of any of FIGS. 11a through 11e, as shown by the dashed lines, the stored data may be used toward or during a subsequent defined maneuver, such as an unpark maneuver from the defined maneuver completion position of FIGS. 11a through 11e. When stored data for features 2125, 2140, 2150, etc., is used for execution of at least a portion of a defined maneuver, controller 2200 may perform checks for the validity or continued validity of the data, etc. For example, controller 2200 may corroborate the data with other inputs, such as later inputs from the environmental sensing means or inputs from another part of the environmental sensing means (e.g., another sensor or camera located in another part of vehicle 2110, another sensor or camera that can confirm the continued presence and / or location of feature or features 2125, 2140, 2150).

[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 indicative of a user request, such as a wirelessly received signal. In at least some examples, the request signal indicative of a user request for movement of the vehicle 2110 to a desired, defined maneuver completion position. The user request may be for 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 comprise a steering output means. The steering output means may include an electrical output for outputting a steering signal. The steering signal represents an instruction for the vehicle 2110 to move. The instruction provided by the steering signal is provided to cause the vehicle 110 to perform a defined maneuver. The control means 2210 is configured to control the steering output means to cause the vehicle 2110 to perform at least a portion 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 portion of a defined maneuver in a particular mode. For example, a user may initiate a maneuver and then transfer control to the controller 2210 to execute the defined maneuver to a defined maneuver completion position, with the execution mode being variable (e.g., between a passenger in-vehicle mode and a passenger out-vehicle mode) during execution of the portion of the defined maneuver.

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

[0530] The system 2300 includes an environmental sensing means 2330 for determining information regarding the environment of the vehicle 2110. In particular, the environmental sensing means 2330 is provided for determining the location of one or more features near the 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 in or on the vehicle's door mirror. The environmental sensing means 2330 is configured to output environmental signals indicative of the determined features. The environmental signals may be environmental data that may be stored in 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, etc. The signals output by each of the sensing devices may be used to form a representation of the vehicle's 2110 environment that is stored in memory for use by other systems of the vehicle 2110.

[0531] Here, the environmental sensing means 2330 is configured to determine the location of features, such as surface markings, which may be painted lines indicating the perimeter of a parking lot, or objects, such as walls, posts, or other vehicles with which the vehicle is required to maneuver. The control means is configured to determine, in response to the environmental signals, an absence of features, such as a separation between obstructing features, such as adjacent features 2140, 2150 shown here. Accordingly, the control means is configured to determine an empty space 2172 where features, such as obstructing features, are not located. If the empty space 2172 is sufficiently large, the control means is configured to determine a vehicle envelope 2174 suitable for accepting the vehicle 2110 at the defined maneuver completion position. The vehicle envelope 2174 includes a target position suitable for accepting the vehicle 2110 at the defined maneuver completion position. Accordingly, the vehicle envelope 2174 here includes the target defined maneuver completion position. In at least this example, the vehicle envelope 2174 is determined in response to one-dimensional characteristics and / or measurements and / or estimations. In particular, here, the vehicle envelope 2174 is determined in response to environmental signals indicating a length, such as an unobstructed length between features 2140, 2150. The unobstructed length is a length sufficient to accommodate the vehicle 2110 at a defined maneuver completion position, where the length is a separation between features 2140, 2150 that is greater than the vehicle length at the defined maneuver completion position. The defined maneuver may include, for example, parking in a park position.

[0532] The environmental 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 a defined steering 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 the one or more defined maneuvers. The defined steering means may be associated with one or more actuators 2350 of the vehicle 2110. One or more actuators 2350 are provided to effect movement of the vehicle 2110. The actuators 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 a powertrain of the vehicle. The controller 2210 is configured to control the steering of the wheels 2180 relative to the feature 2125. The fourth actuator 2350 comprises one or more mechanisms for changing the position of one or more of the movable protrusions 2182 .

[0534] The illustrated system 2300 includes a motive power control means 2320. The motive power control means 2320 may be a motive power control unit. The motive power control means 2320 is configured to receive the steering signals output by the controller 2210. The motive power control means 2320 is associated with one or more motive power units of the vehicle 2110, which may form part of a powertrain (not shown) of the vehicle 2110. The motive power units may include one or more of the internal combustion engine and one or more electric machines of the vehicle 2110. The powertrain is configured to provide power or torque to cause movement of the longitudinal axis of the vehicle 2110, i.e., forward or backward movement of the vehicle 2110, in response to the steering signals received from the controller 2210. The motive power 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 generally forward or backward. Torque may include driving torque, i.e., torque applied in the direction of desired movement, such as forward. Torque may also include braking torque, i.e., torque applied to resist driving torque. In at least some embodiments, both driving torque and braking torque may be applied simultaneously to provide slow movement of the vehicle 2110. Braking torque may also be applied at least partially after the driving torque to effect precise movement of the vehicle 2110. To achieve steering control, the controller 2210 may communicate with the motive force control means 2320. Thus, one or more actuators 2350 may control the direction and movement of the vehicle to perform a defined maneuver. The defined maneuver is performed in response to environmental signals provided by the environmental sensing means 2330.

[0535] The one or more defined maneuvers that may be performed by the vehicle 2110 under the control of the controller 2210 may include a parking maneuver such as that shown in Figures 11a to 11e, in which the vehicle 2110 is controlled to reach a parking position.

[0536] As shown here, system 2300 comprises receiver means 2310 for receiving signal 2305. Signal 2305 may be received wirelessly from a mobile device 2390 associated with a person in charge of vehicle 2110. Signal 2305, as noted above, is indicative of a user request for vehicle movement of vehicle 2110. Receiver means 2310 is configured to output a request signal to input means 2230 of controller 2210, as explained above. The request signal may be output by receiver means 2310 to a communication bus of vehicle 2110, which may communicatively couple the components of system 2300.

[0537] The receiver means 2310 may be in the form of a radio unit 2310. The radio unit 2310 may comprise a receiver for receiving wireless signals 2305 from the mobile device 2390. In some embodiments, the radio unit 2310 may also comprise a transmitter or may be a transceiver 2310 configured to receive wireless signals 2305 transmitted from the mobile device 2390 and transmit signals to the mobile device 2390. The radio unit 2103 and the mobile device 2390 may be configured to provide a wireless local area network via which bidirectional communication can occur between the radio unit 2103 and the mobile device 2390. For example, the radio unit 2103 may be configured to communicate with the mobile device 2390 via WiFi (RTM). In alternative embodiments, other wireless communication standards may be used for communication. In one example, communication between the radio unit 2103 and the 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 gain entry and start or power up the vehicle 2110. The mobile device 2390, in other embodiments, can be an electronic device associated with the person in charge of the vehicle 2100, such as a cell phone, tablet, watch, wearable electronic device, or other computing device associated with the person. The mobile device 2390 can receive user input indicating the person's desire 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 envisioned.

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

[0540] The method 2400 broadly includes step 2410 of receiving, from the environmental sensing means 2330, environmental signals indicative of features 2125, 2140 near the vehicle 2110, and step 2415 of responsively determining possible defined maneuver completion position orientations for accepting the vehicle after execution of the defined maneuver. The control means determines 2415 whether the vehicle 2110 can be oriented within the clearing 2172, such as when multiple target 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 adjacent vehicles 2140, 2150 in a forward and / or rearward facing orientation within the clearing. 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 rearward and / or parallel or perpendicular), thereby providing selection of a target defined maneuver completion position or orientation suitable for accepting the vehicle upon execution of the defined maneuver. Optionally, upon request 2420 of an orientation or defined maneuver completion position, the control means controls the execution of the defined maneuver 2440 .

[0541] 10 , the illustrated embodiment of method 2400 includes receiving 2410 an environmental signal from environmental sensing means 2330. The controller 2210 determines 2420 whether the environmental signal indicates one or more features 2125 near the vehicle 2110 that correspond to suitable vacant locations 2172. If there are no suitable vacant locations, 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 informed that there are no suitable vehicle vacant locations or that only unsuitable vacant locations have been detected).

[0542] It will be understood that in at least some examples, a defined maneuver 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, execution of the defined maneuver 2440 may be performed to the defined maneuver completion position without any explicit selection between or notification of options. Similarly, in at least some examples, a general default orientation for performing one or more defined maneuvers may be provided, such as a preferred orientation when multiple orientations may be available. The default may be programmable by the user and / or adaptive, such as being self-learning so as to evolve or adapt (e.g., with user behavior over a period of time). In at least some examples, there may be a default mode for performing a defined maneuver without the option or requirement to select an orientation. In other examples, the default mode may be a specific orientation, such as performing a perpendicular parking backward to orient the vehicle 2110 out of the vacant lot 2172 toward the front 2114 in the direction it entered for easier parking release, or vice versa, performing a parking backward to allow easy access to the luggage compartment or trunk of the vehicle 2110 from the entrance side of the vacant lot 2172.

[0543] The defined maneuver completion position and / or orientation may be explicitly selected via user input, such as selection via an interface. In at least some examples, selection of the defined maneuver completion position and / or orientation may be via user action. For example, if the defined maneuver completion position and / or orientation is available, selection of the defined maneuver completion position and / or orientation may be achieved at least in part by the user placing the vehicle 2110 at the defined maneuver start position with the vehicle 2110 offset toward a preferred direction for directing the vehicle 2110 toward the defined maneuver completion position (e.g., thereby initiating the defined maneuver while moving the vehicle 2110 in a forward or backward direction, respectively). Additionally or alternatively, selection may be via another system or interface, such as a left / right signal indicator, a steering wheel, a touchscreen, activation of a voice command, or a location of an occupant (e.g., the occupant opening a vehicle door, exiting the vehicle seat, etc.).

[0544] In Figure 11(a), vehicle 2110 is shown in dashed lines at possible defined maneuver completion positions in possible orientations after execution of a defined maneuver from the starting position of Figure 7(a) to the defined maneuver completion position of Figure 11(a), according to one embodiment of the present invention. Such possible defined maneuver completion positions and / or orientations may be communicated to a user prior to execution of the defined maneuver, where the defined maneuver is executed relative to a target defined maneuver completion position to orient vehicle 2110 parallel to adjacent vehicles 2140, 2150 in a parallel street parking defined maneuver.

[0545] FIG. 11(b) illustrates a scenario generally similar to that shown in FIG. 7(b). In FIG. 11(b), the control means has identified the likelihood and preference of pointing the vehicle 2110 within the vacant lot 2172 in a similar direction to both adjacent vehicles 2140, 2150, facing in a similar direction. As shown here, the vehicle 2110 is shown in FIG. 11b performing the defined maneuver under the control of the controller, with the starting position of FIG. 7b indicated by the dashed line. In an alternative example (not shown), the controller may provide the user with alternative orientation options, such as pointing the vehicle forward away from the vacant lot 2172 in the opposite direction to that shown.

[0546] Figures 11(c), 11(d), and 11(e) illustrate a scenario generally similar to that shown in Figure 7(c). Figure 11e illustrates three example possible defined maneuver completion positions with possible orientations. A user (not shown) is provided with a selection of possible defined maneuver completion positions and possible orientations, and upon user selection, a defined maneuver can be executed to the desired defined maneuver completion position, as shown by the dashed line in Figure 11(e).

[0547] Depending on preference or a particular embodiment, the controller may select or provide a default defined maneuver and / or orientation, as shown in FIG. 11(c). It will be appreciated that the scenario shown in FIG. 11(c) illustrates further scenarios for possible defined maneuvers. For example, another vehicle (not shown) may be able to execute a defined maneuver into the vacant space 2172, here between the already parked vehicle 2110 and the adjacent vehicle 2140 on the left. It will be appreciated that execution of the defined maneuver to the offset, defined maneuver completion position, as shown in FIG. 11(c), allows the vacant space of FIGS. 7(c) and 11(c) to be used to accommodate two vehicles that would not otherwise be possible (e.g., as shown in FIG. 11(d)).

[0548] Upon entering the defined maneuver completion position, which is the parking position in each of Figures 11(a), 11(b), 11(c), 11(d), and 11(e), the user 2195 typically applies the parking brake and turns off the engine to bring the vehicle 2110 to a standstill.

[0549] The controller 2200 may be configured to provide and / or select possible defined maneuver completion positions with possible orientations depending on environmental signals, such as characteristics of the void 2172. For example, the controller 2200 may be configured to provide and / or select possible defined maneuver completion positions with possible orientations depending on the size of the void 2172, the alignment of adjacent objects 2140, 2150, or other parameters related to the void 2172. In at least some examples, the available possible defined maneuver completion positions with possible orientations may be limited (e.g., by the void 2172 including dimensions that are unsuitable 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 with possible orientations depending on other parameters, such as one or more of the following: ambient environmental conditions (e.g., rain, temperature, light, darkness, time of day, day of week, etc.), terrain conditions (e.g., road surface conditions, off-road surface conditions, slope, etc.), multiple vehicle occupant locations or multiple locations (e.g., each vehicle occupant location).

[0550] The controller 2210 may be configured to allow user adaptation. For example, a user may be able to at least partially override, program, or adjust the controller 2210 with respect to one or more of the following: one or more available possible defined maneuver completion positions, a possible orientation or orientations, one or more inputs for determining the available possible defined maneuver completion positions and / or possible orientations, and a selection means for selecting the defined maneuver completion positions and / or possible orientations. The controller 2210 may be configured to be manually overridden, programmed, or adjusted to adjust the output of the steering signals. Additionally or alternatively, the controller 2210 may be configured to automatically or semi-automatically override, program, or adjust the output of the steering signals, such as by learning from user behavior, such as repetitive user behavior, associated with one or more of an input pattern, a geographic location, or a user identification (e.g., if the vehicle 2110 is used non-concurrently by multiple users), for example. For example, the controller 2210 may be configured to automatically select a default orientation when the occupant 2195 is located in a particular location (e.g., relative to the vehicle 2110) or when the vehicle 2110 is placed in a particular location, such as a house or garage, where the user has previously performed a defined maneuver into a known open space.

[0551] It will be understood that defined maneuvers other than those shown may be performed. It will be understood that the controller 2200 may be configured to allow an occupant to move in and out of the vehicle's location while the defined maneuver is being performed. For example, the controller 2200 may be configured to allow a defined maneuver to be interrupted or paused, such as to allow an occupant 2195 to enter or exit the vehicle 2110 while the vehicle 2110 is stationary. In at least some examples, the vehicle 2110 may have steerable rear wheels. Alternatively, the vacant space may include a fishbone (diagonal) vacant space 2172 or a vertical vacant space (e.g., with the vehicle 2110 parked edge-on).

[0552] As a result of method 2400, the vehicle may be more advantageously positioned or configured after 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. Even when parked or being driven by a human driver, it may be useful to provide an indication of possible defined maneuver completion positions and / or possible orientations for executing portions of the defined maneuver.

[0553] Third 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 with a vehicle forward direction indicated by arrow 3114 corresponding to a direction opposite to a downward tilt or slope direction indicated by arrow 3116. In Figure 13b, the vehicle 3110 is shown with a vehicle forward direction indicated by arrow 3114 corresponding to a downward tilt or slope direction indicated by arrow 3116. In both scenarios, the vehicle 3110 is shown in a defined maneuver completion position with wheels 3180 parallel to a feature 3125 near the vehicle 3110, as will be described below.

[0554] In Figure 13(a), the vehicle 3110 is in a completed position, where the defined maneuver is one that keeps the vehicle pointed uphill, with the intention of parking the vehicle 3110. The vehicle 3110 is shown in relation to a feature 3125 near the vehicle 3110. The feature 3125 is an object, in this example a curb, that is parallel to the longitudinal axis 3112 of the vehicle 3110, i.e., generally parallel to the side of the vehicle 3110, such as the left side, in the completed position. The object is not limited to being a curb 3125, but could be, for example, a road edge, a gutter, a bollard, a sidewalk, a wall, or other object at or adjacent to the vehicle's ground edge, such as the edge of the road.

[0555] In Figure 13(b), the vehicle 3110 is in a completed position, where the defined maneuver is one that keeps the vehicle pointed downhill, with the intention of parking the vehicle 3110. The vehicle 3110 is again shown in relation to a feature 3125 near the vehicle 3110.

[0556] It will be understood that in both cases shown in Figures 13(a) and (b), the defined maneuver may be a maneuver of the vehicle 3110 that is performed automatically by the vehicle 3110, i.e., under the control of one or more systems of the vehicle 3110. The defined maneuver may be considered to be performed automatically, or at least semi-autonomously, by the vehicle 3110. In Figure 13(a), the defined maneuver may be a parking maneuver for controlling the vehicle 3110 to drive into a parking structure 3125 or parking spot. In Figure 13(b), the defined maneuver may be a maneuver to move the vehicle 3110 out of a parked position, such as from between other vehicles 3140, 3150, in the general direction of arrow 3155.

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

[0558] To perform the defined maneuver, the vehicle 3110 includes environmental sensing means for determining the location of features 3125 near the vehicle 3110. The environmental sensing means may include one or more sensing or imaging devices. The one or more sensing devices may emit radiation and receive reflected radiation from features near the vehicle, such as ultrasonic sensing devices, although it will be understood that the invention is not limited in this respect. Such environmental sensing means has a minimum distance at which the location of the features 3125 can be accurately determined, depending, for example, on the resolution of the imaging device or the signal-to-noise ratio of the sensing device.

[0559] Upon entering the completed position, which is the parking position of Figures 13(a) and 13(b), the user would typically apply the parking brake and turn off the engine to bring the vehicle to a standstill. If the parking brake is applied accidentally or released unintentionally, the vehicle 3110 may undesirably roll backward in Figure 13(a) or forward in Figure 13(b) in a downhill direction 3116. Even if the parking brake is not applied accidentally or released unintentionally, the vehicle 3110 may still be parked in an undesirable condition, such as in violation of local parking regulations for vehicles parking on a ramp.

[0560] Embodiments of the present invention aim to ameliorate one or both of these problems.

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

[0562] The controller 3200 comprises a control means 3210, an input means 3230, and an output means 3240. In some embodiments, the controller comprises a memory means 3220, such as one or more memory devices 3220 for storing data internally. 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 wheels 3180 in the completion position relative to a feature 3125 near the vehicle 3125. Here, the instruction provided is to angle the wheels 3180 toward the feature 3125. The feature 3125 to which the wheels 3180 should be angled may be determined in response to a user input, such as a user activation of an indicator (turn signal). For example, the controller may determine the feature 3125 as a curb to which the wheels 3180 should be angularly offset in response to the user input. In another example, the user may explicitly specify or request a direction for angular offset. In some examples, no user action or input is required to determine whether or in what direction an angular offset is required, such as when the controller 3200 automatically applies an angular offset in all such defined parking maneuvers or in all specific situations that meet defined parameters or criteria requiring an angular offset. The control means 3210 may be formed by one or more electronic processing devices, such as an electronic processor. The processor may operatively 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 steering signals in response to environmental signals, as described below. In some embodiments, the input means 3230 and the output means 3240 may be combined, such as by being formed by an I / O unit or an interface unit. For example, the controller 3210 may include an interface with a network that forms a communication bus of the vehicle.The interface bus may be an Internet Protocol (IP)-based communication bus such as Ethernet, although embodiments of the present invention are not limited in this respect.

[0563] The input means 3230 may include an electrical input for receiving an environmental signal. The input means 3230 may include an electrical input for receiving a request signal, where the request signal refers to a wirelessly received signal representing a user request for 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 indicative of a received signal indicative of a user request, such as a signal received wirelessly. For example, the request signal may be transmitted wirelessly from a mobile device and received by the controller or another device or system connected thereto indicative of a user request (e.g., for the performance of a portion of a particular defined maneuver).

[0565] It will be appreciated that the controller 3200 may be configured to execute a portion of the defined maneuver. For example, a user may initiate a 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 generally positioned in a park position, such as under user control. The controller 3210 may be configured to indicate to the user the possibility of angularly offsetting the wheels and 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 portion of the defined maneuver controlled by the controller may consist of angularly offsetting the wheels 3180.

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

[0567] The system 3300 comprises an environmental sensing means 3330 for determining information regarding the environment of the vehicle 3110. In particular, the environmental sensing means 3330 is provided for determining the location of one or more features near the vehicle 3110. The environmental sensing means 3330 is configured to output an environmental signal indicative of the determined features. The environmental signal may be environmental data that may be stored in 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, etc. The 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 memory for use by other systems of the vehicle 3110.

[0568] Here, the environmental sensing means 3330 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, posts, or other vehicles with which the vehicle is required to maneuver. The control means is configured to determine, in response to the environmental signals, an absence of features, such as separations between obstructing features (not shown). Thus, the control means is configured to determine an empty space 3172 where features, such as obstructing features, are not located. If the empty space 3172 is sufficiently large, the control means is configured to determine a vehicle envelope suitable for receiving the vehicle 3110 at the 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 may include the target-defined maneuver completion position. In at least some examples, the vehicle envelope is determined in response to one-dimensional characteristics and / or measurements and / or estimations. In particular, here, the vehicle envelope is determined in response to environmental signals indicating lengths, such as unobstructed lengths between features (not shown). The unobstructed length is a length sufficient to accommodate the vehicle 3110 at the defined maneuver completion position, which is a 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 park position.

[0569] Here, the controller 3210 of the system 3300 comprises a defined steering 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 to perform the one or more defined maneuvers. The defined steering means may be associated with one or more actuators 3350 of the vehicle 3110. One or more actuators 3350 are provided to effect movement of the vehicle 3110. The actuators 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 a powertrain of the vehicle. The controller 3210 is configured to control steering of the wheels 3180 relative to the feature 3125. The controller 3210 is configured to control the application of steering force to angle the wheels generally toward the feature 3125 when the vehicle is positioned at the defined completed maneuver position.

[0570] The illustrated system 3300 includes a motive power control means 3320. The motive power control means 3320 may be a motive power control unit. The motive power control means 3320 is configured to receive the steering signals output by the controller 3210. The motive power control means 3320 is associated with one or more motive power units of the vehicle 3110, which may form part of a powertrain (not shown) of the vehicle 3110. The motive power units may include one or more of the internal combustion engine and one or more electric machines of the vehicle 3110. The powertrain is configured to provide power or torque to cause movement of the longitudinal axis of the vehicle 3110, i.e., forward or backward movement of the vehicle 3110, in response to the steering signals received from the controller 3210. The motive power 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 generally forward or backward. Torque may include driving torque, i.e., torque applied in the direction of desired movement, such as forward. Torque may also include braking torque, i.e., torque applied to resist driving torque. In at least some embodiments, both driving torque and braking torque may be applied simultaneously to provide slow movement of the vehicle 3110. Braking torque may also be applied at least partially after the driving torque to effect precise movement of the vehicle 3110. To achieve steering control, the controller 3210 may communicate with the motive force control means 3320. Thus, one or more actuators 3350 may control the direction and movement of the vehicle to perform a defined maneuver. The defined maneuver is performed in response to environmental signals provided by the environmental sensing means 3330.

[0571] The one or more defined maneuvers that may be performed by the vehicle 3110 under the control of the controller 3210 may include a parking maneuver such as that shown in Figures 13(a) and 13(b), in which the vehicle 3110 is controlled to reach a parking position.

[0572] As shown here, the system 3300 comprises a receiver means 3310 for receiving a signal 3305. The signal 3305 may be received wirelessly from a mobile device 3390 associated with a person in charge of the vehicle 3110. The signal 3305, as noted above, is indicative of a user request for vehicle movement of the vehicle 3110. The receiver means 3310 is configured to output a request signal to the input means 3230 of the controller 3210, as explained above. The request signal may be output by the receiver means 3310 to a communication bus of the vehicle 3110, which may communicatively couple the components of the system 3300.

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

[0574] The mobile device 3390 can be an electronic key fob associated with the vehicle 3110 and can be used, for example, to gain entry and start or power up the vehicle 3110. The mobile device 3390, in other embodiments, can be an electronic device associated with the person in charge of the vehicle 3100, such as a cell phone, tablet, watch, wearable electronic device, or other computing device associated with the person. The mobile device 3390 can receive user input indicating the person's 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 here, the wheels 3180 may be angled to contact the features 3125 when the vehicle 3110 rolls against or along a slope. In other examples, the wheels 3180 may be angled to allow different wheels to contact the features 3125 when the vehicle 3110 rolls. For example, the front steerable wheels 3180 may be angled to allow or cause the rear wheels to contact the features 3125 when the vehicle rolls downhill.

[0576] Figure 16 shows a method 3400 according to one embodiment of the present invention. Method 3400 is a method of controlling the movement of a vehicle 3110. Method 3400 may be formed by the controller 3210 and system 3300 described above with reference to Figures 14 and 15. Method 3400 will be described with reference to Figures 17(a) and 17(b) as an example corresponding to the situation shown in Figures 1(a) and 1(b), respectively.

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

[0578] 16 , the illustrated embodiment of a method 3400 includes receiving 3410 an environmental signal from an environmental sensing means 3330. The controller 3210 determines 3420 whether the environmental signal indicates one or more features 3125 near the vehicle 3110 corresponding to an object relative to which the wheels 3180 may be desired to be angularly offset.

[0579] In the illustrated embodiment, there is an optional additional step 3430 whereby the controller 3210 determines whether the vehicle 3110 and / or the ground proximate (e.g., below) the vehicle 3110 is sloped. The controller 3210 may determine the presence of a slope, and in at least some embodiments, the direction and / or magnitude of the slope. In response, the controller 3210 may determine whether a sufficient slope exists, and in which direction, and whether there is a suitable feature 3125, such as a curb, near the vehicle 3110. In response, the controller 3210 may output corresponding steering signals in step 3440 to command movement of the vehicle 3110, and in particular, the rotation of the wheels 3180 relative to the vehicle 3110. As noted above, in at least some embodiments, the controller 3210 may determine a preferred angular offset 3184 of the wheels 3180 and output steering signals accordingly. In particular, the controller 3210 can output a steering signal to angle the vehicle wheel 3180 toward the feature 3125 in a downhill direction, so that upon occurrence of vehicle movement, such as rolling from the completed maneuver position (e.g., FIG. 13(a) or FIG. 13(b)), the wheel 3180 will contact the feature 3125. The tilt may be determined in response to a vehicle sensor, such as a vehicle accelerometer (not shown). The tilt may be determined based on environmental signals, such as a determination of a feature relative to the vehicle 3110 (e.g., based on the slope of the feature 3125 near the vehicle, and / or additional features, such as a vertical support). The controller 3210 may be configured to determine the feature 3125 as a curb from a number of objects indicated by the environmental signals. In at least some examples, the controller can determine the presence, direction, and / or magnitude of the tilt based on data stored in memory 3220 and / or the location of the vehicle 3110 as indicated from a geo-location system of the vehicle 3110, such as a navigation system, and / or a mobile device proximate to or associated with the user of the vehicle.

[0580] In at least some examples, to provide a steering signal to angularly offset the wheels 3180, the controller 3210 may require the presence of a slope above a minimum threshold, such as greater than about 1 degree from horizontal, preferably greater than about 3 degrees from horizontal, although in at least some examples it may be a higher threshold, such as greater than about 5 degrees from horizontal. The minimum slope threshold may correspond, for example, to the likelihood of the vehicle rolling and / or regulatory requirements, such as where parking regulations may require wheel restraint when parking on a slope of 3 degrees or greater. Other slopes may be envisioned.

[0581] The controller 3210 may be configured to angularly offset the wheels 3180 by a minimum angle 184, such as at least about 10 degrees, preferably at least about 15 degrees, and optionally at least about 20 degrees, relative to the longitudinal axis 3112 of the vehicle 3110. The minimum angle 184 may correspond to at least a minimum angle of a regulatory requirement for wheel clamps. In at least some examples, the angle of offset 184 corresponds to a maximum angular offset of the wheels 3180 relative to the longitudinal axis 3112 of the vehicle 3110, such as a complete lock of the steerable wheels 3180.

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

[0583] It will be appreciated that the vehicle 3110 may be positioned on a ramp at a defined maneuver completion position, where the downhill direction is not necessarily parallel or aligned with the vehicle's longitudinal axis 3112. For example, the ramp direction may have a lateral component, such as related to road camber. Specifically herein, the controller may be configured to determine the roll direction, or tendency to roll, of the vehicle 3110, such as under gravity, and the wheels 3180 may be angularly offset accordingly.

[0584] In at least some examples, the controller 3210 may be configured to apply braking means and / or engage gears or drive functions of the vehicle 3110 to prevent or inhibit unintended rolling of the vehicle, such as when the vehicle is parked on a ramp.

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

[0586] As a result of method 3400, the vehicle may be more advantageously positioned or configured after 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. Angularly offsetting the wheels 3180 may be useful even when parked or being driven by a human driver.

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

[0588] 19, the vehicle 4110 is shown in a defined maneuver start position prior to executing the defined maneuver, such as to a parking position for the vehicle 4110. Here, the vehicle is shown with a longitudinal axis 4112, with the direction of forward movement of the vehicle indicated by arrow 4114. Here, ambient conditions near the vehicle are shown as precipitation 4136, such as rain. The ambient conditions are not limited to precipitation, but may include, for example, surface temperatures, such as temperature, air temperature, and road temperature; precipitation, such as rain, snow, and hail; moisture, humidity; particles, such as fog, haze, and airborne particles; light levels; wind; wind speed; and wind direction.

[0589] It will be understood that the defined maneuver may be a maneuver of the vehicle 4110 that is performed automatically by the vehicle 4110, i.e., under the control of one or more systems of the vehicle 4110. The defined maneuver may be considered to be performed automatically, or at least semi-autonomously, by the vehicle 4110. In FIG. 19 , the defined maneuver may be a parking maneuver for controlling the vehicle 4110 to drive into a parking structure or parking spot. Finally, in some situations, it may be advantageous for the maneuver to be performed while the person controlling the vehicle 4110 is outside the vehicle 4110. For example, access to the vehicle 4110 may be restricted after performing the defined maneuver.

[0590] The ambient condition or conditions may be such that they have a real and / or perceived effect on the execution of the defined maneuver, such as by physically and / or psychologically affecting the user's experience of the execution of the defined maneuver.

[0591] Embodiments of the present invention aim to ameliorate one or both of these problems.

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

[0593] The controller 4200 comprises a control means 4210, an input means 4230, and an output means 4240. In some embodiments, the controller comprises a memory means 4220, such as one or more memory devices 4220 for storing data internally. The output means 4240 may include an electrical output for outputting steering signals. The steering signals represent instructions for the vehicle 4110 to move.

[0594] Here, the input means 4230 is for receiving an ambient condition signal indicative of ambient conditions 4136 near the vehicle 4110. The control means 4210 is configured to control the output means 4240 to cause the vehicle 4110 to perform at least a portion of the defined maneuver in response to the ambient condition signal. Here, the control means 4210 is configured to control the output means 4240 to cause the vehicle 4110 to perform at least a portion of the defined maneuver in accordance with a vehicle movement control profile determined in response to the ambient condition signal, thus causing the vehicle 4110 to perform the defined maneuver in a controlled manner appropriate to the ambient conditions.

[0595] The vehicle movement control profile includes a speed parameter. Here, the speed parameter indicates a primary speed parameter. The control means 4210 is configured to select a vehicle movement control profile in response to a classification of the ambient conditions 4136. Advantageously, the control means 4210 of the vehicle 4110 automatically selects parameters for the execution of a defined maneuver associated with a predetermined category of one or more ambient conditions. Here, the speed parameter indicates the acceleration and jerk of the vehicle 4110, where jerk is the rate of change of acceleration of the vehicle 4110. Thus, the vehicle 4110 executes the defined maneuver with appropriate acceleration to execute the defined maneuver efficiently and / or without excessive acceleration of the vehicle 4110 or the user or its contents. For example, as shown here in rainy ambient conditions 4136, the vehicle movement control profile is selected to provide reduced speed parameters, such as reduced maximum speed, reduced maximum acceleration, and reduced maximum jerk. Thus, if there is an increased likelihood of reduced grip (e.g., due to rain wetting the road or other surface beneath the wheels 4180), or at least an increased likelihood that the user will perceive a reduced grip, the controller 4200 adapts the execution of the defined maneuver to reduce the likelihood of the vehicle 4110 slipping, or at least reduce the user's perception of the likelihood of the vehicle 4110 slipping. Thus, it causes the vehicle 4110 to perform the defined maneuver at an appropriate speed, acceleration, and rate of acceleration that is physically and psychologically adapted to the ambient conditions so as to be comfortable for the user.

[0596] It will be appreciated that other vehicle motion control profiles can be used for other ambient conditions. For example, the maximum speed parameter of the vehicle motion control profile corresponding to wet ambient conditions 4136 in FIG. 19 may be less than the maximum speed parameter of the vehicle motion control profile corresponding to dry ambient conditions. Thus, the maximum speed parameter can be changed to adapt to changes in ambient conditions 4136. It will be appreciated that the vehicle motion control profile can be changed during the execution of a defined maneuver, for example, if the ambient conditions change (e.g., if it starts raining only after the start of the defined maneuver).

[0597] To perform the defined maneuvers, the vehicle 4110 includes environmental sensing means for determining the locations of features near the vehicle 4110. The environmental sensing means may include one or more sensing or imaging devices. The one or more sensing devices may emit radiation and receive reflected radiation from features near the vehicle, such as ultrasonic sensing devices, although it will be understood that the invention is not limited in this respect. Such environmental sensing means has a minimum distance at which the location of features can be accurately determined, depending, for example, on the resolution of the imaging device or the signal-to-noise ratio of the sensing device.

[0598] It will be appreciated that in at least some examples, 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 windshield wipers, vehicle lighting, and traction sensors. For example, if the windshield wipers are manually and / or automatically activated, the control means 4210 may adapt the vehicle movement control profile for rainy weather accordingly, e.g., by reducing the speed parameter. Similarly, manually and / or automatically activated lighting of the vehicle 4110 may be used in at least some examples to determine the ambient conditions of light levels, and the control means 4210 may be configured to adapt the output means 4240 accordingly (e.g., to reduce the speed parameter in darker ambient conditions). The ambient condition signal may be at least partially responsive to an ambient condition measurement. 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 circumstances. For example, if the vehicle is in a geographic location (e.g., not in a tunnel, out of sunlight, etc.) during daylight hours for that location, an indication of low light levels may be considered to indicate cloudy or overcast ambient conditions.

[0599] Once in a defined maneuver completion position (not shown), the user will typically apply the parking brake and turn off the engine to bring the vehicle to a standstill.

[0600] The control means 4210 may be formed by one or more electronic processing devices, such as an electronic processor. The processor may operatively 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 steering signals in response to environmental signals, as described below. In some embodiments, the input means 4230 and the output means 4240 may be combined, such as by being formed by an I / O unit or an interface unit. For example, the controller 4210 may include an interface with a network that forms a communication bus of the vehicle. The interface bus may be an Internet Protocol (IP)-based communication bus, such as Ethernet, although embodiments of the present invention are not limited in this respect.

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

[0602] It will be appreciated that the controller 4200 may be configured to perform a portion of a defined maneuver. For example, a user may initiate a maneuver and then transfer control to the controller 4210 to complete the defined maneuver.

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

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

[0605] Here, the vehicle includes environmental sensing means for determining the location of at least one feature near the vehicle and outputting an environmental signal indicative thereof. The environmental 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, posts, or other vehicles with which the vehicle is required to maneuver. The control means is configured to determine, in response to the environmental signal, an absence of features, such as separations between obstructing features (not shown). Accordingly, the control means is configured to determine an empty space where features, such as obstructing features, are not located. If the empty space is sufficiently large, the control means is configured to determine a vehicle envelope suitable for receiving the vehicle 4110 at the 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 target-defined maneuver completion position. In at least some examples, the vehicle envelope is determined in response to one-dimensional characteristics and / or measurements and / or estimations. In particular, the vehicle envelope can be determined in response to an environmental signal indicative of a length, such as an unobstructed length, between features (not shown). The unobstructed length is a length sufficient to accommodate the vehicle 4110 at the defined maneuver completion position, which is a 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 park position.

[0606] Here, the controller 4210 of the system 4300 comprises a defined steering 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 to perform the one or more defined maneuvers. The defined steering means may be associated with one or more actuators 4350 of the vehicle 4110. One or more actuators 4350 are provided to effect movement of the vehicle 4110. The actuators may comprise one or more of a power steering mechanism configured to provide steering of the wheels of the vehicle 4110 in response to a signal received from the controller 4210. A second actuator may comprise a powered braking mechanism of the vehicle 4110 configured to actuate the brakes of the vehicle in response to a signal received from the controller 4210. A third actuator comprises a powertrain of the vehicle. The controller 4210 is configured to control the steering of the wheels 180 relative to the feature.

[0607] The illustrated system 4300 includes a motive power control means 4320. The motive power control means 4320 may be a motive power control unit. The motive power control means 4320 is configured to receive the steering signals output by the controller 4210. The motive power control means 4320 is associated with one or more motive power units of the vehicle 4110, which may form part of a powertrain (not shown) of the vehicle 4110. The motive power units may include one or more of the internal combustion engine and one or more electric machines of the vehicle 4110. The powertrain is configured to provide power or torque to cause movement of the longitudinal axis of the vehicle 4110, i.e., forward or backward movement of the vehicle 4110, in response to the steering signals received from the controller 4210. The motive power control means 4320 is configured to control the application of torque to one or more wheels of the vehicle 4110 to move the vehicle 4110 within the longitudinal axis of the vehicle, i.e., to move the vehicle generally forward or backward. Torque may include driving torque, i.e., torque applied in the direction of desired movement, such as forward. Torque may also include braking torque, i.e., torque applied to resist driving torque. In at least some embodiments, both driving torque and braking torque may be applied simultaneously to provide slow movement of the vehicle 4110. Braking torque may also be applied at least partially after the driving torque to effect precise movement of the vehicle 4110. To achieve control of steering, the controller 4210 may communicate with the motive force control means 4320. Thus, one or more actuators 4350 may control the direction and movement of the vehicle to ...

Claims

1. a controller, input means for receiving environmental signals indicative of the location of one or more features near the vehicle; output means for outputting a steering signal for causing the vehicle to perform a defined steering to a defined steering completion position; a 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 planned trajectory for executing the defined maneuver within several trajectory segments to the maneuver completion position within a defined maneuver completion position tolerance range relative to a feature near the vehicle, the control means being configured to determine the defined maneuver completion position tolerance range in response to the environmental signal.

2. The controller of claim 1 , wherein the control means is configured to determine the number of orbital segments in response to the defined maneuver completion position tolerance.

3. 3. The controller of claim 1 or 2, wherein the control means is configured to inversely relate the number of orbital segments to the defined maneuver completion position tolerance, whereby when the defined maneuver completion position tolerance is large, the defined maneuver is limited to a smaller number of orbital segments, and when the defined maneuver completion position tolerance is small, the defined maneuver is limited to a larger number of orbital segments.

4. 4. A controller according to claim 1, wherein the control means is configured to determine both the defined maneuver completion position tolerance and the number of trajectory portions in response to the environmental signal indicative of a vehicle envelope parameter of a vehicle envelope for receiving the vehicle.

5. The controller of claim 4 , wherein the control means is configured to provide a greater defined maneuver completion position tolerance range for a vehicle envelope having a greater vehicle envelope parameter.

6. A controller as claimed in claim 4 or 5, wherein the control means is arranged to provide fewer trajectory segments for vehicle envelopes having larger vehicle envelope parameters.

7. 7. The controller of claim 1, wherein the control means is configured to determine at least one of the defined maneuver completion position tolerance range and the number of trajectory portions depending on the location of an occupant of a vehicle.

8. 8. The controller of claim 1, wherein the control means is configured to determine at least one of the defined maneuver completion position tolerance and the number of trajectory segments depending on a mode for executing the defined maneuver.

9. 9. The controller of claim 1, wherein the number of orbital segments over which the defined maneuver is performed is a maximum number of orbital segments.

10. 10. The controller of claim 1, wherein the planned trajectory is from a defined maneuver start position to the defined maneuver end position, and the number of trajectory segments is the total number of trajectory segments between these positions.

11. The controller of claim 1 , wherein the defined maneuver completion position tolerance range includes at least one of an angle range and a distance range relative to the feature near the vehicle.

12. A controller as claimed in any one of claims 1 to 11, wherein the control means is arranged to determine each successive track section to be in an opposite vehicle longitudinal direction relative to the preceding track section.

13. A controller as claimed in any preceding claim, comprising input means for receiving a request signal indicative of a received signal indicative of a user request for movement of the vehicle.

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

15. 1. A system comprising: The controller of any one of claims 1 to 14, configured to receive the environmental signal and to output the steering signal; environmental sensing means arranged to determine the location of one or more features in the vicinity of said vehicle; and actuator means for receiving said maneuver signal for causing said vehicle to perform said defined maneuver.

16. 16. A system according to claim 15 when dependent on claim 13, comprising receiver means for receiving a signal indicative of a user request for movement of the vehicle and outputting said request signal in response.

17. 17. The system of 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 and the number of orbital segments.

18. 18. The system of claim 15, comprising 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 and the number of orbital segments in response to a location parameter.

19. 1. A method for controlling movement of a vehicle to perform a defined maneuver to a defined maneuver completion position, comprising: receiving an environmental signal indicative of a location of one or more features near the vehicle; determining a defined maneuver completion position tolerance range in response 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 relative to features near the vehicle; and outputting a maneuver signal to cause the vehicle to perform the defined maneuver.

20. 20. The method of claim 19, comprising determining a number of orbital segments in response to the defined maneuver completion position tolerance.

21. 21. The method of claim 19 or 20, comprising inversely relating the number of orbital segments to the defined maneuver completion position tolerance, whereby when the defined maneuver completion position tolerance is large, the defined maneuver is executed within a smaller number of orbital segments, and when the defined maneuver completion position tolerance is small, the defined maneuver is limited to a larger number of orbital segments.

22. 22. The method of any one of claims 19 to 21, comprising determining both the defined maneuver completion position tolerance and the number of trajectory segments in response to the environmental signal indicating that a vehicle envelope parameter of a vehicle envelope for accepting the vehicle exceeds a threshold.

23. 23. A method according to any one of claims 19 to 22, comprising 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, a system configured to carry out a method according to any one of claims 15 to 18 or any one of claims 19 to 22.

25. Computer software configured to perform the method of any one of claims 19 to 22 when executed by a processing means, and optionally stored on a computer readable non-transitory medium.

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