Distance control for a vehicle

Abstract

A computer system is disclosed for controlling motion of a vehicle, the computer system comprising processing circuitry configured to receive an input comprising a desired motion distance of the vehicle, determine a desired rotation angle of at least one wheel of the vehicle, the desired rotation angle corresponding to the desired motion distance, and determine an angle of rotation for a motion support device associated with the at least one wheel, the angle of rotation corresponding to the desired rotation angle of the wheel.

Description

DISTANCE CONTROL FOR A VEHICLETECHNICAL FIELD

[0001] The disclosure relates generally to vehicle control. In particular aspects, the disclosure relates to distance control for a vehicle. The disclosure can be applied to heavy-duty vehicles, such as trucks, buses, and construction equipment, among other vehicle types. Although the disclosure may be described with respect to a particular vehicle, the disclosure is not restricted to any particular vehicle.BACKGROUND

[0002] In many vehicle operations, precise control of vehicle movement is desired. Examples of situations where such precise control is wanted include connecting a trailer to a truck, backing a truck up to an unloading location for a material load or a container, connecting a truck to a skip loader, unloading an excavator to a dump truck, and parking. In some applications, this control is typically performed tens or hundreds of times every day.

[0003] In present systems, an accelerator and / or brake pedal or a remote control is used to move a vehicle small distances. For example, an operator may operate the vehicle using the accelerator pedal to request an acceleration and use visual reference points to judge the distance covered. However, the precision associated with such control is often inadequate. The smaller the distance, the harder this becomes. Vehicle weight, surface conditions, and the like will also affect how well this control can be performed by the driver.

[0004] It is therefore desired to develop a solution for vehicle control that addresses or at least mitigates some of these issues.SUMMARY

[0005] This disclosure attempts to address the problems noted above by providing systems, methods and other approaches for controlling movement of a vehicle based on determining an angle of rotation for a motion support device associated with at least one wheel that corresponds to a desired motion distance of the vehicle. By providing control based on an angle of rotation, a vehicle can be moved small and precise distances in a reliable manner, thus facilitating control of the vehicle in situations where precision is desired.

[0006] According to a first aspect of the disclosure, there is provided a computer system for controlling motion of a vehicle, the computer system comprising processing circuitryIconfigured to receive an input comprising a desired motion distance of the vehicle, determine a desired rotation angle of at least one wheel of the vehicle, the desired rotation angle corresponding to the desired motion distance, and determine an angle of rotation for a motion support device associated with the at least one wheel, the angle of rotation corresponding to the desired rotation angle of the at least one wheel.

[0007] The first aspect of the disclosure may seek to alleviate current issues with precise control of a vehicle. A technical benefit may include reliable and precise movement of a vehicle. This ensures that, in situations such as connecting a trailer to a truck, backing a truck up to an unloading location for a material load or a container, and parking, accurate control is provided and accidents are prevented.

[0008] Optionally in some examples, including in at least one preferred example, the processing circuitry is further configured to determine a pre-rotation for the motion support device to be implemented before the determined angle of rotation. A technical benefit may include the improvement of control of the vehicle under certain operating conditions, such as preventing rollback when the vehicle is on a slope, thus ensuring accurate replication of requested distance movement and improving safety of vehicle operation.

[0009] Optionally in some examples, including in at least one preferred example, the processing circuitry is further configured to transmit the angle of rotation for the motion support device to a controller of the vehicle to move the vehicle the desired motion distance according to the received input. A technical benefit may include enabling a controller of a vehicle to implement precise motion control of the vehicle autonomously.

[0010] Optionally in some examples, including in at least one preferred example, the processing circuitry is further configured to transmit a desired rate of rotation to a controller of the vehicle. A technical benefit may include ensuring that the vehicle is operated at a safe and / or comfortable speed whilst the precise motion control is provided.

[0011] Optionally in some examples, including in at least one preferred example, the desired rate of rotation corresponds to a vehicle speed of less than 5 m / s. A technical benefit may include ensuring that the vehicle is operated at a safe and / or comfortable speed whilst the precise motion control is provided.

[0012] Optionally in some examples, including in at least one preferred example, the processing circuitry is further configured to cause the computer system to operate in a distancebased control mode. A technical benefit may include enabling normal control of the vehicle until it is near to a target, and then preventing normal control once a distance-based controlmode is entered. This means that accidental control inputs, for example to the accelerator pedal, do not result in unwanted movement of the vehicle when precise movement is desired.

[0013] Optionally in some examples, including in at least one preferred example, the processing circuitry is further configured to, during motion of the vehicle according to the determined rotation for the motion support device, receive a signal representing a rotation of a non-driven wheel, and determine if the rotation of the non-driven wheel matches the desired rotation. A technical benefit may include the monitoring of the movement distance of the vehicle to ensure that the desired motion is accurately implemented, such that any adjustments can be performed as necessary.

[0014] Optionally in some examples, including in at least one preferred example, the motion support device is an electric motor and the angle of rotation is for a shaft of the electric motor. A technical benefit may include that the system can be implemented in a simple manner into existing motion systems for different types of vehicle, which can then be controlled in a precise manner.

[0015] Optionally in some examples, including in at least one preferred example, the motion support device is associated with two wheels of the vehicle on a common axle. A technical benefit may include the provision of a compact system that is able to control motion of multiple wheels at once, thus reducing the footprint of the system on the vehicle. Furthermore, this can help ensure straight-line motion, meaning alignment of the vehicle to a target can be ensured.

[0016] According to a second aspect of the disclosure, there is provided a vehicle comprising the computer system.

[0017] According to a third aspect of the disclosure, there is provided a computer- implemented method, for controlling motion of a vehicle, the method comprising receiving, by processing circuitry of a computer system, an input comprising a desired motion distance of the vehicle, determining, by the processing circuitry, a desired rotation angle of at least one wheel of the vehicle, the desired rotation angle corresponding to the desired motion distance, and determining, by the processing circuitry, an angle of rotation for a motion support device associated with the at least one wheel, the angle of rotation corresponding to the desired rotation angle of the at least one wheel.

[0018] The third aspect of the disclosure may seek to alleviate current issues with precise control of a vehicle. A technical benefit may include reliable and precise movement of a vehicle. This ensures that, in situations such as connecting a trailer to a truck, backing a truckup to an unloading location for a material load or a container, and parking, accurate control is provided and accidents are prevented.

[0019] Optionally in some examples, including in at least one preferred example, the method further comprises determining, by the processing circuitry, a pre-rotation for the motion support device to be implemented before the determined angle of rotation. A technical benefit may include the improvement of control of the vehicle under certain operating conditions, such as preventing rollback when the vehicle is on a slope, thus ensuring accurate replication of requested distance movement and improving safety of vehicle operation.

[0020] Optionally in some examples, including in at least one preferred example, the method further comprises transmitting, by the processing circuitry, the angle of rotation for the motion support device to a controller of the vehicle to move the vehicle the desired motion distance according to the received input. A technical benefit may include enabling a controller of a vehicle to implement precise motion control of the vehicle autonomously.

[0021] Optionally in some examples, including in at least one preferred example, the method further comprises transmitting, by the processing circuitry, a desired rate of rotation to a controller of the vehicle. A technical benefit may include ensuring that the vehicle is operated at a safe and / or comfortable speed whilst the precise motion control is provided.

[0022] Optionally in some examples, including in at least one preferred example, the desired rate of rotation corresponds to a vehicle speed of less than 5 m / s. A technical benefit may include ensuring that the vehicle is operated at a safe and / or comfortable speed whilst the precise motion control is provided.

[0023] Optionally in some examples, including in at least one preferred example, the method further comprises causing, by the processing circuitry, the computer system to operate in a distance-based control mode. A technical benefit may include enabling normal control of the vehicle until it is near to a target, and then preventing normal control once a distance-based control mode is entered. This means that accidental control inputs, for example to the accelerator pedal, do not result in unwanted movement of the vehicle when precise movement is desired.

[0024] Optionally in some examples, including in at least one preferred example, the method further comprises during motion of the vehicle according to the determined rotation for the motion support device, receiving, by the processing circuitry, a signal representing a rotation of a non-driven wheel, and determining, by the processing circuitry, if the rotation of the non-driven wheel matches the desired rotation. A technical benefit may include themonitoring of the movement distance of the vehicle to ensure that the desired motion is accurately implemented, such that any adjustments can be performed as necessary.

[0025] Optionally in some examples, including in at least one preferred example, the motion support device is an electric motor and the angle of rotation is for a shaft of the electric motor. A technical benefit may include that the system can be implemented in a simple manner into existing motion systems for different types of vehicle, which can then be controlled in a precise manner.

[0026] According to a fourth aspect of the disclosure, there is provided a computer program product comprising program code for performing, when executed by processing circuitry, the computer-implemented method.

[0027] According to a fifth aspect of the disclosure, there is provided a non-transitory computer-readable storage medium comprising instructions, which when executed by processing circuitry, cause the processing circuitry to perform the computer-implemented method.

[0028] The disclosed aspects, examples (including any preferred examples), and / or accompanying claims may be suitably combined with each other as would be apparent to anyone of ordinary skill in the art. Additional features and advantages are disclosed in the following description, claims, and drawings, and in part will be readily apparent therefrom to those skilled in the art or recognized by practicing the disclosure as described herein.

[0029] There are also disclosed herein computer systems, control units, code modules, computer-implemented methods, computer readable media, and computer program products associated with the above discussed technical benefits.BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Examples are described in more detail below with reference to the appended drawings.

[0031] FIG. 1 is an exemplary system diagram, in terms of functional blocks, of a computer system according to an example.

[0032] FIG. 2 is a flow chart of an example computer-implemented method according to an example.

[0033] FIG. 3 is a schematic diagram of an exemplary computer system for implementing examples disclosed herein, according to an example.

[0034] Like reference numerals refer to like elements throughout the description.DETAILED DESCRIPTION

[0035] The detailed description set forth below provides information and examples of the disclosed technology with sufficient detail to enable those skilled in the art to practice the disclosure.

[0036] In many vehicle operations, for example connecting a trailer to a truck, backing a truck up to an unloading location for a material load or a container, and parking, precise control of vehicle movement is desired. In some applications, this control is typically performed tens or hundreds of times every day. Use of an accelerator and / or brake pedal or a remote control by an operator often does not provide adequate precision, especially for small distances and differing operating conditions.

[0037] To remedy this, systems, methods and other approaches are provided for controlling movement of a vehicle based on a determining an angle of rotation for a motion support device associated with at least one wheel that corresponds to a desired motion distance of the vehicle. By providing control based on an angle of rotation, a vehicle can be moved small and precise distances in a reliable manner. This facilitates control of the vehicle in situations where precision is desired, instead of having to use the accelerator and brake pedals to move a certain precise distance.

[0038] FIG. 1 is an exemplary system diagram, in terms of functional blocks, of a system 100 for controlling a vehicle 190 according to an example. The system 100 can be used to implement precise control of vehicle movement by implementing a rotation for a motion support device associated with at least one wheel that corresponds to a desired motion distance of the vehicle.

[0039] The system 100 comprises a distance control unit (DCU) 110 in the form of a computer system. The DCU 110 comprises processing circuitry configured to implement various operations disclosed below, for example in relation to FIG. 3. The DCU 110 may include a memory storing instructions that, when executed by the processing circuitry, cause the processing circuitry to perform the various operations.

[0040] The system 100 further comprises a user interface 120. The user interface 120 is configured to receive an input from an operator of the vehicle 190 and provide the input to the DCU 110. In particular, an operator may provide a distance input to the user interface 120, as will be discussed below. The user interface 120 is communicatively coupled to the DCU 110, for example by a wired or wireless connection. The user interface 120 may be comprised in thevehicle 190 or located remotely from the vehicle 190. The user interface 120 may be an interface implemented on a dashboard or console of the vehicle 190, for example set of buttons, dials or a touch screen. The user interface 120 may be an interface of a personal user device such as a smart phone or tablet that is communicatively connected to the DCU 110 and / or the vehicle 190.

[0041] The system 100 further comprises a drive system 130. The drive system 130 may be an automated or semi-automated drive system configured to determine motion control signals for the vehicle 190. In particular, the drive system 130 may determine a distance control signal and provide it to the DCU 110. The drive system 130 is communicatively coupled to the DCU 110, for example by a wired or wireless connection. The drive system 130 may be comprised in the vehicle 190 or located remotely from the vehicle 190.

[0042] The system 100 further comprises a vehicle main control unit (VMCU) 140. The VMCU 140 may also be known as an electronic control unit (ECU) or electronic control module (ECM). The VMCU 140 is configured to implement control of the vehicle 190, for example by providing control signals to relevant components of the vehicle 190, as discussed below. The VMCU 140 is also communicatively coupled to the DCU 110, for example by a wired or wireless connection. The VMCU 140 may be configured to send and receive signals and / or data to and from the DCU 110. In some examples, the DCU 110 may be integrated as part of the VMCU 140. The user interface 120 and the drive system 130 may also be communicatively coupled to the VMCU 140.

[0043] The system 100 further comprises one or more motion support devices (MSDs) 150. Example MSDs 150 include internal combustion engines (ICEs) such as diesel engines, electrical machines such as electric motors, and brake systems such as service brakes of the vehicle 190. Each MSD 150 may be associated with one or more wheels 170 or axles of the vehicle 190. The one or more MSDs 150 are configured to receive control signals from the VMCU 140 and implement physical motion of the vehicle 190 accordingly. As will be discussed below, the one or more MSDs 150 are configured to receive an angle of rotation corresponding to the desired rotation angle of at least one associated wheel 170.

[0044] In some examples, the system 100 further comprises a gearbox 160. The gearbox 160 may function in a known manner to transmit rotation from the one or more MSDs 150 into rotation of the wheel 170 or axle of the vehicle 190. The gearbox 160 may itself comprise a transmission electronic control unit (TECU) in order to receive control signals, for example from the VMCU 140. In some examples, the gearbox 160 may be omitted and an MSD 150 may be integrated directly with an axle of the vehicle 190.

[0045] The system 100 further comprises one or more wheels 170 or axles. An axle may be coupled to one, two, or more wheels 170. Rotation provided by the one or more MSDs 150 is implemented by the one or more axles or wheels 170 in order to provide motion of the vehicle 190

[0046] Different combinations of MSDs 150, gearboxes 160, axles or wheels 170 will be readily envisaged. For example, the vehicle 190 may comprise an ICE and associated gearbox to control one or more driven axles. Alternatively, the vehicle 190 may comprise an electric motor and associated gearbox to control one or more driven axles. The vehicle 190 may comprise an electric motor and integrated with a driven axle or within a wheel. Different combinations of these configurations are also possible.

[0047] In some examples, the system 100 further comprises one or more wheel sensors 180. The one or more wheel sensors 180 are configured to detect one or more parameters associated with the wheels 170 of the vehicle 190, for example, a wheel speed, angle of rotation, and the like. Wheel sensors 180 may be associated with driven or non-driven wheels or axles of the vehicle 190. The one or more wheel sensors 180 are communicatively coupled to the VMCU 140 and configured to provide detected information to the VMCU 140 and / or the DCU 110

[0048] In some examples, the system 100 is implemented in the vehicle 190, as shown in FIG. 1. In some examples, the DCU 110, the user interface 120, and / or the VMCU 140 may be implemented externally to and / or remotely from the vehicle 190.

[0049] The system 100 and methods disclosed herein can be used with any suitable form of vehicle 190. For example, the disclosure can be applied in heavy-duty vehicles, such as trucks, buses, and construction equipment, in personal vehicles such as cars, vans, or motorbikes, or in any other suitable form of vehicle.

[0050] Operation of the system 100 will be described below. The system 100, and in particular the DCU 110, may be used to implement control of vehicle motion, for example over small distances where precision is specifically desired. To this end, the DCU 110 is configured to receive input comprising a desired motion distance of the vehicle 190, determine a desired rotation angle of at least one wheel 170 of the vehicle 190 corresponding to the desired motion distance, and determine an angle of rotation for an MSD 150 associated with the at least one wheel 170 that corresponds to the desired rotation angle of the wheel 170.

[0051] For example, an operator may make an input to the user interface 120 for the vehicle to move a certain distance. This may be a button press, actuation of a pedal, press or flick of a switch, interaction with a touch screen, or other suitable input. For example, the operator mayinput a distance of 5m to the user interface 120. In other examples, the drive system 130 may determine a distance control signal and provide it to the DCU 110. For example, the drive system 130 may be coupled to one or more cameras or distance sensors that determine the distance between the vehicle 190 and a target. Other suitable methods of inputting or determining a distance input for the DCU will be readily envisaged. In some examples, the input may be a discrete request (i.e. for the vehicle 190 to move a specific distance and then stop), whilst in other examples consecutive requests could be added together for continuous movement.

[0052] In some examples, the desired movement of the vehicle 190 is a longitudinal movement, for example a straight-line movement in a forward or backward direction. This may ensure that alignment of the vehicle 190 to a target is maintained as the movement is implemented. In some examples, the movement may include some lateral motion, for example through the operator turning the steering wheel or a steering angle being provided to a steered axle of the vehicle 190. In some examples, different distances could be provided to different wheels in order to provide a lateral movement of the vehicle as a whole, as will be described later.

[0053] The operator or the drive system 130 may also provide a desired vehicle speed to the DCU 110. For example, it may be specified that the vehicle 190 should have a maximum or average speed when travelling the desired distance. In some examples, the system 100 may be used to operate the vehicle 190 at relatively low speeds, for example a speed of less than 5 m / s.

[0054] Once a distance input has been received, the DCU 110 is configured to determine a desired rotation angle of at least one wheel 170 of the vehicle 190 corresponding to the desired motion distance. The rotation angle is determined based on the circumference of the wheel 170 (or, indeed, the tyre of the wheel 170). For example, if the wheel 170 has a circumference of 2.5m, and the desired motion distance is 5m, it can be determined that the required rotation angle of the wheel 170 to travel the desired distance is 720° (or two full rotations of the wheel). The DCU 110 may have access to a database or lookup table that indicates the various dimensions of the wheels 170 of the vehicle 190 and allows determination of rotation angles corresponding to desired motion distances.

[0055] Once a rotation angle of at least one wheel 170 has been determined, the DCU 110 is configured to determine an angle of rotation for an MSD 150 associated with the at least one wheel 170 that corresponds to the desired rotation angle of the wheel 170. The determined angle of rotation is for a component of the MSD 150 that causes rotation of the wheel 170. Forexample, where the MSD 150 is an electric motor, the angle of rotation is that of the shaft of the electric motor that can be controlled via an electric current. Where the MSD 150 is an ICE, the angle of rotation may be that of the propeller shaft that can be controlled via fuel injection and / or spark timing. In general terms, any controlled rotational component may be used that is directly or indirectly connected to the wheel 170 so as to get a proportional motion of the wheel 170 when the rotational component is rotated. In order to provide an accurate rotation, the controlled rotational component may be the source of the wheel rotation and / or connected reasonably stiffly to the wheel 170.

[0056] The angle of rotation can be determined in a number of different ways dependent on the configuration of the driveline of the vehicle 190, for example taking into account gear ratio, differential ratio, wheel radius, and the like. For example, the gear ratio of the gearbox 160 may determine how many rotations of the MSD 150 are required to provide a certain rotation of the wheel 170. Following the example given above (where the wheel 170 has a circumference of 2.5m, the desired motion distance is 5m, and the required rotation angle of the wheel 170 is 720°), if the gearbox 160 has a ratio of 3: 1, then the angle of rotation of the MSD 150 is 240°. The DCU 110 may have access to a database or lookup table that indicates the various possible gear ratios of the gearbox 160 and allows determination of rotation angles corresponding to desired motion distances. In examples where there is no gearbox 160, for example where an electric motor is coupled directly to a wheel or axle 170, the transmission ratio will be 1 : 1 and the angle of rotation for the MSD 150 will correspond to the required rotation angle of the wheel 170.

[0057] Once an angle of rotation for an MSD 150 has been determined, the DCU 110 may transmit the angle of rotation to the VMCU 140. In some examples, the DCU 110 may also transmit a desired rate of rotation to the VMCU 140. The VMCU 140 can then implement control of the vehicle 190 accordingly, for example by providing a control signal comprising the angle of rotation to the MSD 150. The wheel 170 can then be rotated the determined rotation angle and the vehicle 190 can be moved the desired motion distance. Following the example given above with an electric motor, the DCU 110 transmits an angle of rotation of 240° to the VMCU 140, which in turn provides a corresponding control signal to the electric motor. The shaft of the electric motor rotates 240°, which causes the wheel 170 to rotate 720° (via the gearbox 160 ratio of 3 : 1). The vehicle then moves 5m.

[0058] In some examples, the movement of the vehicle 190 is a longitudinal movement, for example a straight-line movement in a forward or backward direction. This may ensure that alignment of the vehicle 190 to a target is maintained as the movement is implemented. Toenable this, the rotation request may be sent to an axle with multiple wheels, so that each wheel moves the same distance. In some examples, the movement may include some lateral motion, for example through the operator turning the steering wheel or a steering angle being provided to a steered axle of the vehicle 190. In some examples, different distances could be provided to different wheels on a common axle in order to provide a lateral movement of the vehicle as a whole. For example, if the left wheel of a driven axle is moved forwards 4m, while a right wheel of the driven axle is moved forwards 5m, the vehicle 190 will turn to the left.

[0059] In some examples, before the determined rotation is implemented, a pre-rotation of the MSD 150 may be performed in order to tighten the driveline of the vehicle 190. For example, in response to a control signal, a suitable gear can be selected, the clutch closed, and a pre-rotation or motor torque applied. At standstill, the gear ratio implemented by the gearbox 160 and the desired pre-rotation can be determined based on at least one of a mass of the vehicle 190, a slope of the vehicle path, and gear parameters of the vehicle 190. For example, the slope of the road can be determined and a starting gear can be selected accordingly. This can be achieved using vehicle models, fixed calibration data, and / or adaptations for friction and rolling resistance. The onward movement of the vehicle 190 can then be controlled as described herein. This can help ensure accurate replication of requested distance movement and improve safety of vehicle operation, for example by preventing rollback when the vehicle 190 is on a slope.

[0060] The DCU 110 may also be configured to monitor certain aspects of the motion as the vehicle 190 is moving. For example, the DCU 110 may receive a signal representing a rotation or a speed of at least one axle or wheel 170 of the vehicle 190, for example from a the sensor 180. For example, the DCU 110 may receive a signal representing a rotation of a nondriven wheel, such as a rotation angle or rotation speed of the non-driven wheel. The implemented movement distance of the vehicle 190 can be calculated from the rotation of the non-driven wheel. This is particularly advantageous as non-driven wheels will only rotate when the vehicle 190 moves. This can be helpful, for example, in slippery conditions where there may be a difference in rotation between driven and non-driven wheels. Wheel speed sensors may be particularly useful as they provide accurate wheel speed measurements at lower speeds.

[0061] In other examples, the DCU 110 may receive a signal representing a rotation of a component of a powertrain of the vehicle 190. For example, one or more rotational sensors in the MSD 150 or the gearbox 160 may feed a rotation measure back to the DCU 110, for example a number of rotations or a rotation angle. The DCU 110 may also receive values such as an engine speed, input shaft speed, countershaft speed, main shaft speed, or shift fork position (to get the current gear ratio), from which a number of rotations can be determined.For example, knowing the rotation speed of the gearbox shafts, the current gear selected, the gear ratio and the wheel circumference, the distance of movement of the vehicle 190 can be calculated from the number of rotations of the engine / motor. Certain data that may be desired for this, for example ratio data for gears in various gearboxes, axle ratios, wheel sizes, etc., can be stored in a database associated with the DCU 110. Alternatively, the DCU 110 may use other distance determination devices, such as distance sensors of the vehicle, radar, LIDAR, or positioning data such as GPS. Radar and LIDAR may also be useful in detecting obstacles in the vehicle path and preventing collisions by triggering a stop signal for the vehicle 190.

[0062] The DCU 110 can then compare the determined distance to the distance specified by the received input. If the determined distance corresponds to the desired distance, the vehicle can be stopped (e.g. by applying the brakes). If the determined distance does not correspond to the desired distance, the DCU 110 may provide a further control signal to correct the movement of the vehicle 190, or may feed the error back to the operator or drive system 130 such that a further input can be provided.

[0063] The DCU 110 can also determine if the wheel speed is within a desired range, for example within a threshold of a specified vehicle speed. For example, it may be desired that the vehicle 190 is operated at a safe and / or comfortable speed whilst the precise motion control is provided, and this can be monitored by the DCU 110 and corrected if necessary. The desired wheel speed range can be set to take into account engine / clutch torque, rotational engine acceleration, vehicle mass, friction, overall ratio, steering wheel position, and effective wheelbase, for example as in anti-lock braking systems (ABS). As such, current ABS implementations can be used for this purpose. In some examples, current ABS implementations can merely be used to provide a binary indication of whether or not the vehicle 190 is moving.

[0064] In some examples, the DCU 110 may be configured to enter a distance-based control mode in order to operate as described. Outside of the distance-based control mode, the vehicle 190 may be controlled based on torque requests as known in the art, whereas in the distance-based control mode the vehicle 190 may be controlled based on distance and rotation commands as described herein. This can ensure that accidental control inputs, for example to the accelerator pedal, do not result in unwanted movement of the vehicle 190 when precise movement is desired. The distance-based control mode may be associated with a maximum distance, for example 50m. Alternatively or additionally, the VMCU 140 and / or the MSD 150 may enter the distance-based control mode.

[0065] Entering the distance-based control mode may be triggered by a predetermined operator input to the user interface 120. In some examples, the distance-based control modemay be selected on a touch screen or a dedicated button or switch may be activated. In other examples, a button or other input element of the user interface 120 may be held down for a predetermined time, a number of buttons may be pressed simultaneously, or a specific sequence of inputs may be made in order to trigger the discrete movement mode. The operator may be provided with feedback, for example visual, audio, or tactile feedback, indicating that the distance-based control mode has been entered.

[0066] The system 100, and in particular the DCU 110, may address current issues with precise control of a vehicle by providing reliable and precise movement of a vehicle based on a simple operator input. This ensures that, in situations such as connecting a trailer to a truck, backing a truck up to an unloading location for a material load or a container, and parking, accurate control is provided and accidents are prevented.

[0067] FIG. 2 is a flow chart of an example computer-implemented method 200 for controlling motion of a vehicle, such as the vehicle 190 defined above, according to an example. The method 200 may be performed by the DCU 110 described in relation to FIG. 1.

[0068] At 202, the DCU 110 may enter a distance-based control mode. In the distancebased control mode, the vehicle 190 may be controlled based on distance and rotation commands as described herein. This can ensure that accidental control inputs, for example to the accelerator pedal, do not result in unwanted movement of the vehicle 190 when precise movement is desired. The distance-based control mode may be associated with a maximum distance, for example 50m.

[0069] At 204, the DCU 110 receives a signal representing a desired motion distance of the vehicle 190. For example, an operator may make an input to the user interface 120 for the vehicle 190 to move a certain distance, or the drive system 130 may determine a distance control signal and provide it to the DCU 110.

[0070] At 206, the DCU 110 determines a desired rotation angle of at least one wheel 170 of the vehicle 190, the desired rotation angle corresponding to the desired motion distance. The rotation angle is determined based on the circumference of the wheel 170 (or, indeed, the tyre of the wheel 170). The DCU 110 may have access to a database or lookup table that indicates the various dimensions of the wheels 170 of the vehicle 190 and allows determination of rotation angles corresponding to desired motion distances.

[0071] At 208, the DCU 110 determines an angle of rotation for an MSD 150 associated with the at least one wheel 170 that corresponds to the desired rotation angle of the wheel 170. The determined angle of rotation is for a component of the MSD 150 that causes rotation of the wheel 170. The angle of rotation can be determined in a number of different ways dependenton the configuration of the driveline of the vehicle 190. For example, the gear ratio of the gearbox 160 may determine how many rotations of the MSD 150 are required to provide a certain rotation of the wheel 170. The DCU 110 may have access to a database or lookup table that indicates the various possible gear ratios of the gearbox 160 and allows determination of rotation angles corresponding to desired motion distances. In examples where there is no gearbox 160, for example where an electric motor is coupled directly to a wheel or axle 170, the transmission ratio will be 1 : 1 and the angle of rotation for the MSD 150 will correspond to the required rotation angle of the wheel 170.

[0072] At 210, the DCU 110 may determine a pre-rotation for the MSD 150 to be implemented before the determined angle of rotation. The pre-rotation may be performed in order to tighten the driveline of the vehicle 190. For example, the gear ratio implemented by the gearbox 160 and the required pre-rotation can be determined based on at least one of a mass of the vehicle 190, a slope of the vehicle path, and gear parameters of the vehicle 190. This can help ensure accurate replication of requested distance movement and improve safety of vehicle operation, for example by preventing rollback when the vehicle 190 is on a slope.

[0073] At 212, the DCU 110 may transmit the angle of rotation to the VMCU 140. In some examples, the DCU 110 may also transmit a desired rate of rotation to the VMCU 140. The VMCU 140 can then implement control of the vehicle 190 accordingly, for example by providing a control signal comprising the angle of rotation to the MSD 150. The wheel 170 can then be rotated the determined rotation angle and the vehicle 190 can be moved the desired motion distance.

[0074] At 214, during motion of the vehicle 190 according to the determined rotation, the DCU 110 may receive a signal representing a rotation of a non-driven wheel of the vehicle 190. For example, the DCU 110 may receive a signal representing a rotation or a speed of at least one axle or wheel 170 of the vehicle 190, for example from a sensor 180. In other examples, the DCU 110 may receive a signal representing a rotation of a component of a powertrain of the vehicle 190. For example, one or more rotational sensors in an MSD 150 or the gearbox 160 may feed a rotation measure back to the DCU 110, for example a number of rotations or a rotation angle. In other examples, the DCU 110 may receive a signal representing a travelled distance from one or more direct distance determination devices, such as distance sensors of the vehicle, radar, LIDAR, or positioning data such as GPS.

[0075] At 216, the DCU 110 may determine whether the implemented motion corresponds to the received input. The implemented movement distance of the vehicle 190 can be calculated from the rotation of the non-driven wheel. This is particularly advantageous as non-drivenwheels will only rotate when the vehicle 190 moves. The implemented movement distance of the vehicle 190 can also be calculated from the rotation of a component of a powertrain of the vehicle 190, or be given directly by a direct distance determination device. The DCU 110 can then compare the determined distance to the distance specified by the received input. If the determined distance corresponds to the desired distance, the vehicle can be stopped (e.g. by applying the brakes). If the determined distance does not correspond to the desired distance, the DCU 110 may provide a further control signal to correct the movement of the vehicle 190, or may feed the error back to the operator or drive system 130 such that a further input can be provided.

[0076] FIG. 3 is a schematic diagram of a computer system 300 for implementing examples disclosed herein. The computer system 300 is adapted to execute instructions from a computer-readable medium to perform these and / or any of the functions or processing described herein. The computer system 300 may be connected (e.g., networked) to other machines in a LAN, an intranet, an extranet, or the Internet. While only a single device is illustrated, the computer system 300 may include any collection of devices that individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methodologies discussed herein. Accordingly, any reference in the disclosure and / or claims to a computer system, computing system, computer device, computing device, control system, control unit, electronic control unit (ECU), processor device, processing circuitry, etc., includes reference to one or more such devices to individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methodologies discussed herein. For example, control system may include a single control unit or a plurality of control units connected or otherwise communicatively coupled to each other, such that any performed function may be distributed between the control units as desired. Further, such devices may communicate with each other or other devices by various system architectures, such as directly or via a Controller Area Network (CAN) bus, etc.

[0077] The computer system 300 may comprise at least one computing device or electronic device capable of including firmware, hardware, and / or executing software instructions to implement the functionality described herein. The computer system 300 may include processing circuitry 302 (e.g., processing circuitry including one or more processor devices or control units), a memory 304, and a system bus 306. The computer system 300 may include at least one computing device having the processing circuitry 302. The system bus 306 provides an interface for system components including, but not limited to, the memory 304 and the processing circuitry 302. The processing circuitry 302 may include any number of hardwarecomponents for conducting data or signal processing or for executing computer code stored in memory 304. The processing circuitry 302 may, for example, include a general-purpose processor, an application specific processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a circuit containing processing components, a group of distributed processing components, a group of distributed computers configured for processing, or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. The processing circuitry 302 may further include computer executable code that controls operation of the programmable device.

[0078] The system bus 306 may be any of several types of bus structures that may further interconnect to a memory bus (with or without a memory controller), a peripheral bus, and / or a local bus using any of a variety of bus architectures. The memory 304 may be one or more devices for storing data and / or computer code for completing or facilitating methods described herein. The memory 304 may include database components, object code components, script components, or other types of information structure for supporting the various activities herein. Any distributed or local memory device may be utilized with the systems and methods of this description. The memory 304 may be communicably connected to the processing circuitry 302 (e.g., via a circuit or any other wired, wireless, or network connection) and may include computer code for executing one or more processes described herein. The memory 304 may include non-volatile memory 308 (e.g., read-only memory (ROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc.), and volatile memory 310 (e.g., random-access memory (RAM)), or any other medium which can be used to carry or store desired program code in the form of machineexecutable instructions or data structures and which can be accessed by a computer or other machine with processing circuitry 302. A basic input / output system (BIOS) 312 may be stored in the non-volatile memory 308 and can include the basic routines that help to transfer information between elements within the computer system 300.

[0079] The computer system 300 may further include or be coupled to a non-transitory computer-readable storage medium such as the storage device 314, which may comprise, for example, an internal or external hard disk drive (HDD) (e.g., enhanced integrated drive electronics (EIDE) or serial advanced technology attachment (SATA)), HDD (e.g., EIDE or SATA) for storage, flash memory, or the like. The storage device 314 and other drives associated with computer-readable media and computer-usable media may provide nonvolatile storage of data, data structures, computer-executable instructions, and the like.

[0080] Computer-code which is hard or soft coded may be provided in the form of one or more modules. The module(s) can be implemented as software and / or hard-coded in circuitry to implement the functionality described herein in whole or in part. The modules may be stored in the storage device 314 and / or in the volatile memory 310, which may include an operating system 316 and / or one or more program modules 318. All or a portion of the examples disclosed herein may be implemented as a computer program 320 stored on a transitory or non- transitory computer-usable or computer-readable storage medium (e.g., single medium or multiple media), such as the storage device 314, which includes complex programming instructions (e.g., complex computer-readable program code) to cause the processing circuitry 302 to carry out actions described herein. Thus, the computer-readable program code of the computer program 320 can comprise software instructions for implementing the functionality of the examples described herein when executed by the processing circuitry 302. In some examples, the storage device 314 may be a computer program product (e.g., readable storage medium) storing the computer program 320 thereon, where at least a portion of a computer program 320 may be loadable (e.g., into a processor) for implementing the functionality of the examples described herein when executed by the processing circuitry 302. The processing circuitry 302 may serve as a controller or control system for the computer system 300 that is to implement the functionality described herein.

[0081] The computer system 300 may include an input device interface 322 configured to receive input and selections to be communicated to the computer system 300 when executing instructions, such as from a keyboard, mouse, touch-sensitive surface, etc. Such input devices may be connected to the processing circuitry 302 through the input device interface 322 coupled to the system bus 306 but can be connected through other interfaces, such as a parallel port, an Institute of Electrical and Electronic Engineers (IEEE) 1394 serial port, a Universal Serial Bus (USB) port, an IR interface, and the like. The computer system 300 may include an output device interface 324 configured to forward output, such as to a display, a video display unit (e.g., a liquid crystal display (LCD) or a cathode ray tube (CRT)). The computer system 300 may include a communications interface 326 suitable for communicating with a network as appropriate or desired.

[0082] The operational actions described in any of the exemplary aspects herein are described to provide examples and discussion. The actions may be performed by hardware components, may be embodied in machine-executable instructions to cause a processor to perform the actions, or may be performed by a combination of hardware and software. Although a specific order of method actions may be shown or described, the order of the actionsmay differ. In addition, two or more actions may be performed concurrently or with partial concurrence.

[0083] According to certain examples, there is also disclosed:Example 1. A computer system (110) for controlling motion of a vehicle (190), the computer system comprising processing circuitry configured to: receive an input comprising a desired motion distance of the vehicle; determine a desired rotation angle of at least one wheel (170) of the vehicle, the desired rotation angle corresponding to the desired motion distance; and determine an angle of rotation for a motion support device (150) associated with the at least one wheel, the angle of rotation corresponding to the desired rotation angle of the wheel.Example 2. The computer system (110) of example 1, wherein the processing circuitry is further configured to determine a pre-rotation for the motion support device (150) to be implemented before the determined angle of rotation.Example 3. The computer system (110) of example 1 or 2, wherein the processing circuitry is further configured to transmit the angle of rotation for the motion support device to a controller (140) of the vehicle (190) to move the vehicle the desired motion distance according to the received input.Example 4. The computer system (110) of any preceding example, wherein the processing circuitry is further configured to transmit a desired rate of rotation to a controller (140) of the vehicle (190).Example 5. The computer system (110) of example 4, wherein the desired rate of rotation corresponds to a vehicle speed of less than 5 m / s.Example 6. The computer system (110) of any preceding example, wherein the processing circuitry is further configured to cause the computer system to operate in a distance-based control mode.Example 7. The computer system (110) of any preceding example, wherein the processing circuitry is further configured to, during motion of the vehicle (190) according to the determined rotation for the motion support device (150): receive a signal representing a rotation of a non-driven wheel; and determine if the rotation of the non-driven wheel matches the desired rotation.Example s. The computer system (110) of any preceding example, wherein the motion support device (150) is an electric motor and the angle of rotation is for a shaft of the electric motor.Example 9. The computer system (110) of any preceding example, wherein the motion support device (150) is associated with two wheels of the vehicle (190) on a common axle.Example 10. A vehicle (190) comprising the computer system (110) of any preceding example.Example 11. A computer-implemented method (200) for controlling motion of a vehicle (190), the method comprising: receiving (204), by processing circuitry of a computer system (110), an input comprising a desired motion distance of the vehicle; determining (206), by the processing circuitry, a desired rotation angle of at least one wheel (170) of the vehicle, the desired rotation angle corresponding to the desired motion distance; and determining (208), by the processing circuitry, an angle of rotation for a motion support device (150) associated with the at least one wheel, the angle of rotation corresponding to the desired rotation angle of the wheel.Example 12. The computer-implemented method (200) of example 11, further comprising determining (210), by the processing circuitry, a pre-rotation for the motion support device (150) to be implemented before the determined angle of rotation.Example 13. The computer-implemented method (200) of example 11 or 12, further comprising transmitting (212), by the processing circuitry, the angle of rotation for themotion support device (150) to a controller (140) of the vehicle (190) to move the vehicle the desired motion distance according to the received input.Example 14. The computer-implemented method (200) of any of examples 11 to 13, further comprising transmitting (212), by the processing circuitry, a desired rate of rotation to a controller (140) of the vehicle (190).Example 15. The computer-implemented method (200) of example 14, wherein the desired rate of rotation corresponds to a vehicle speed of less than 5 m / s.Example 16. The computer-implemented method (200) of any of examples 11 to 15, further comprising causing (202), by the processing circuitry, the computer system (110) to operate in a distance-based control mode.Example 17. The computer-implemented method (200) of any of examples 11 to 16, further comprising, during motion of the vehicle (190) according to the determined rotation for the motion support device (150): receiving (214), by the processing circuitry, a signal representing a rotation of a non-driven wheel; and determining (216), by the processing circuitry, if the rotation of the non-driven wheel matches the desired rotation.Example 18. The computer-implemented method (200) of any of examples 11 to 17, wherein the motion support device (150) is an electric motor and the angle of rotation is for a shaft of the electric motor.Example 19. A computer program product comprising program code for performing, when executed by processing circuitry, the computer-implemented method (200) of any of examples 10 to 18.Example 20. A non-transitory computer-readable storage medium comprising instructions, which when executed by processing circuitry, cause the processing circuitry to perform the computer-implemented method (200) of any of examples 10 to 18.

[0084] The terminology used herein is for the purpose of describing particular aspects only and is not intended to be limiting of the disclosure. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items. It will be further understood that the terms "comprises," "comprising," "includes," and / or "including" when used herein specify the presence of stated features, integers, actions, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, actions, steps, operations, elements, components, and / or groups thereof.

[0085] It will be understood that, although the terms first, second, etc., may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element without departing from the scope of the present disclosure.

[0086] Relative terms such as "below" or "above" or "upper" or "lower" or "horizontal" or "vertical" may be used herein to describe a relationship of one element to another element as illustrated in the Figures. It will be understood that these terms and those discussed above are intended to encompass different orientations of the device in addition to the orientation depicted in the Figures. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element, or intervening elements may be present. In contrast, when an element is referred to as being "directly connected" or "directly coupled" to another element, there are no intervening elements present.

[0087] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. It will be further understood that terms used herein should be interpreted as having a meaning consistent with their meaning in the context of this specification and the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

[0088] It is to be understood that the present disclosure is not limited to the aspects described above and illustrated in the drawings; rather, the skilled person will recognize that many changes and modifications may be made within the scope of the present disclosure and appended claims. In the drawings and specification, there have been disclosed aspects forpurposes of illustration only and not for purposes of limitation, the scope of the disclosure being set forth in the following claims.

Claims

CLAIMSWhat is claimed is:

1. A computer system (110) for controlling motion of a vehicle (190), the computer system (110) comprising processing circuitry configured to: receive an input comprising a desired motion distance of the vehicle (190); determine a desired rotation angle of at least one wheel (170) of the vehicle (190), the desired rotation angle corresponding to the desired motion distance; and determine an angle of rotation for a motion support device (150) associated with the at least one wheel (170), the angle of rotation corresponding to the desired rotation angle of the at least one wheel (170).

2. The computer system (110) of claim 1, wherein the processing circuitry is further configured to transmit the angle of rotation for the motion support device (150) to a controller (140) of the vehicle (190) to move the vehicle (190) the desired motion distance according to the received input.

3. The computer system (110) of any of claims 1-2, wherein the processing circuitry is further configured to determine a pre-rotation for the motion support device (150) to be implemented before the determined angle of rotation.

4. The computer system (110) of any of claims 1-3, wherein the processing circuitry is further configured to transmit a desired rate of rotation to a controller (140) of the vehicle (190).

5. The computer system (110) of claim 4, wherein the desired rate of rotation corresponds to a vehicle speed of less than 5 m / s.

6. The computer system (110) of any of claims 1-5, wherein the processing circuitry is further configured to cause the computer system (110) to operate in a distance-based control mode.

7. The computer system (110) of claims 1-6, wherein the processing circuitry is further configured to, during motion of the vehicle (190) according to the determined rotation for the motion support device (150): receive a signal representing a rotation of a non-driven wheel; and determine if the rotation of the non-driven wheel matches the desired rotation.

8. The computer system (110) of any of claims 1-7, wherein the motion support device (150) is an electric motor and the angle of rotation is for a shaft of the electric motor.

9. The computer system (110) of any of claims 1-8, wherein the motion support device (150) is associated with two wheels of the vehicle (190) on a common axle.

10. A vehicle (190) comprising the computer system (110) of any of claims 1-9.

11. A computer-implemented method (200) for controlling motion of a vehicle (190), the method (200) comprising: receiving (204), by processing circuitry of a computer system (110), an input comprising a desired motion distance of the vehicle (190); determining (206), by the processing circuitry, a desired rotation angle of at least one wheel (170) of the vehicle (190), the desired rotation angle corresponding to the desired motion distance; and determining (208), by the processing circuitry, an angle of rotation for a motion support device (150) associated with the at least one wheel (170), the angle of rotation corresponding to the desired rotation angle of the at least one wheel (170).

12. The computer-implemented method (200) of claim 11, further comprising transmitting (212), by the processing circuitry, the angle of rotation for the motion support device (150) to a controller (140) of the vehicle (190) to move the vehicle (190) the desired motion distance according to the received input.

13. The computer-implemented method (200) of any of claims 11-12, further comprising determining (210), by the processing circuitry, a pre-rotation for the motion support device (150) to be implemented before the determined angle of rotation.

14. The computer-implemented method (200) of any of claims 11-13, further comprising transmitting (212), by the processing circuitry, a desired rate of rotation to a controller (140) of the vehicle (190).

15. The computer-implemented method (200) of claim 14, wherein the desired rate of rotation corresponds to a vehicle speed of less than 5 m / s.

16. The computer-implemented method (200) of any of claims 11-15, further comprising causing (202), by the processing circuitry, the computer system (110) to operate in a distance-based control mode.

17. The computer-implemented method (200) of any of claims 11-16, further comprising, during motion of the vehicle (190) according to the determined rotation for the motion support device (150): receiving (214), by the processing circuitry, a signal representing a rotation of a non-driven wheel; and determining (216), by the processing circuitry, if the rotation of the non-driven wheel matches the desired rotation.

18. The computer-implemented method (200) of any of claims 11-17, wherein the motion support device (150) is an electric motor and the angle of rotation is for a shaft of the electric motor.

19. A computer program product comprising program code for performing, when executed by processing circuitry, the computer-implemented method (200) of any of claims 10- 18.

20. A non-transitory computer-readable storage medium comprising instructions, which when executed by processing circuitry, cause the processing circuitry to perform the computer-implemented method (200) of any of claims 10-18.

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