Automated parking

Abstract

Aspects of the present invention relate to automated parking, in particular to a method (400) and an electronic control system (100, 200, 300, 600) for controlling an automated parking system of a vehicle. The electronic control system (100, 200, 300, 600) comprises one or more processors (104) collectively configured to: output one or more signals to cause the vehicle to perform an automated parking operation; determine a need for a user to access a load space of the vehicle in dependence on at least one of: a received load space access request signal indicative of a request to access a load space of the vehicle, and a stored user behaviour associated with a location of the automated parking operation; receive an accessibility signal indicative of available space for accessing the load space of the vehicle; and in dependence on the available space being below a threshold value, output one or more signals to pause the automated parking operation to enable a user to access the load space before the automated parking operation is complete. Further aspects of the present invention relation to an autonomous driving control system and a vehicle.

Description

[0001] AUTOMATED PARKING

[0002] TECHNICAL FIELD

[0003] The present disclosure relates to automated manoeuvring of a vehicle, and in particular to automated parking and to automated departure from a parking space. Aspects of the invention relate to an electronic control system for controlling an automated manoeuvring system of a vehicle, in particular for controlling an automated parking system of a vehicle, to an autonomous driving control system, to a vehicle, to a method for controlling an automated parking system of a vehicle, to a method for controlling an automated manoeuvring system of a vehicle, in particular for controlling an automated parking system of a vehicle, and to computer readable instructions.

[0004] BACKGROUND

[0005] It is known to provide advanced driver assistance features in vehicle. These advanced driver assistance features aid the driver in carrying out certain tasks associated with the vehicle or a journey of the vehicle. Examples of such advanced driver assistance features include, but are not limited to, automated parking and automatic departure from a parking space. Departing from a parking space may be referred to as a departing operation, deparking, unparking or otherterms. These automated manoeuvres help the driver by automatically parking the vehicle and automatically vacating a parking space. The driver may monitorthe vehicle movements during the automated operations.

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

[0007] SUMMARY OF THE INVENTION

[0008] Aspects and embodiments of the invention provide an electronic control system for controlling an automated manoeuvring system of a vehicle, and in particular an electronic control system for controlling an automated parking system of a vehicle, an autonomous driving control system, a vehicle, a method for controlling an automated parking system of a vehicle, a method for controlling an automated manoeuvring system of a vehicle, in particular for controlling an automated parking system of a vehicle, and to computer readable instructions as claimed in the appended claims.

[0009] According to an aspect of the present invention there is provided an electronic control system for controlling an automated parking system of a vehicle, the electronic control system being configured to: determine a need for a user to access a load space of the vehicle; receive an accessibility signal indicative of available space for accessing the load space of the vehicle; and in dependence on the indication of available space, pause the automated parking operation to enable a user to access the load space before the automated parking operation is complete. In this way, the invention provides the user with access to the load space even if access to the load space becomes restricted once the vehicle is parked.

[0010] According to another aspect of the present invention there is provided an electronic control system for controlling an automated parking system of a vehicle, the electronic control system comprising one or more processors collectively configured to: output one or more signals to cause the vehicle to perform an automated

[0011] 1

[0012] SUBSTITUTE SHEET (RULE 25) parking operation; determine a need for a user to access a load space of the vehicle in dependence on at least one of: a received load space access request signal indicative of a request to access a load space of the vehicle, and a stored user behaviour associated with a location of the automated parking operation; receive an accessibility signal indicative of available space for accessing the load space of the vehicle; and in dependence on the available space being below a threshold value, output one or more signals to pause the automated parking operation to enable a user to access the load space before the automated parking operation is complete.

[0013] In this way, the invention allows the electronic control system to determine if access to the load space may be limited when the vehicle is parked after the automated parking operation and take action to allow the driver or passengers access to the load space in a more convenient manner. The driver may specifically request access to the load space, for example in a semi-autonomous system. Alternatively, for example, in a fully automated vehicle, the determination of the need to access the load space may be determined by the electronic control system or another control system providing fully autonomous operation, based on historical user behaviour or the like.

[0014] Optionally, the electronic control system may be configured to receive an automated parking request signal indicative of a request to perform an automated parking operation and output the one or more signals to cause the vehicle to perform the automated parking operation in dependence on receipt of the automated parking request signal. In this way, the vehicle may be requested to initiate the automated parking operation. The automated parking request signal may be received from a user of the vehicle, e.g. driver or passenger, or from another control system within the vehicle, for example an autonomous driving control system.

[0015] In an embodiment, the electronic control system may be configured to receive the automated parking request signal from a user via an in-board input. In this way, the user may request the automated parking operation while they are in the vehicle. The automated parking request signal may be entered by a user using a user interface of the vehicle, such as that of the vehicle’s infotainment system.

[0016] In an embodiment, the automated parking request signal may comprise the load space access request. This is a convenient way of indicating that a user wishes to access the load space. For example, if a user has placed an item in the load space, then they will request to be able to access to the load space at the end of their journey.

[0017] Optionally, the accessibility signal is indicative of available space at completion of the parking operation. This is useful for determining if the load space will be accessible. The accessibility signal may be indicative of available space during the parking operation and / or at completion of the parking operation. If the available space at completion of the automated parking operation is above the threshold, no action is taken to pause the automated parking operation, even if the available space falls below the threshold during parking operation. Optionally, the electronic control system may be configured to, in dependence on the available space being above the threshold value, take no action in relation to pausing the automated parking operation. In this way, the automated parking operation will not be paused unnecessarily.

[0018] Optionally, the electronic control system may be configured to recommence the automated parking operation, in dependence on receipt of a recommence automated parking signal requesting the parking operation to recommence. In this way, when the user is finished accessing the load space, the automated parking operation can be recommenced and completed.

[0019] In an embodiment, the electronic control system may be configured to receive the recommence automated parking signal from the user. In this way, the user can indicate when they have finished with the load space.

[0020] Optionally, the electronic control system may be configured to receive the recommence automated parking signal from the user via a remote device. In this way, where a driver has exited the vehicle to access the load space, they do not have to get back into the vehicle to instruct it to recommence the automated parking operation. They may simply instruct the vehicle to carry on with the parking operation, and then carry on with their activities. The remote device may be, for example, a personal communications device, such as smart phone, smart watch, and so on; or a vehicle access device, such as key fob or the like. The recommence automated parking signal may also be received via an in-board device. This is useful, for example, if the driver chooses to re-enter the vehicle after accessing the load space, or if a passenger is the one accessing the load space and the driver has not left the vehicle.

[0021] In an embodiment, the electronic control system may be configured to receive an automated parking request signal and output the one or more signals to cause the vehicle to perform the automated parking operation in dependence on receipt of the automated parking request signal, wherein the automated parking request signal is received from an autonomous driving control system of the vehicle, and the need for a user to access the load space of the vehicle is obtained by the autonomous driving control system; and the electronic control system may be configured to recommence the automated parking operation in dependence on a signal from the autonomous driving control system. In this way, the automated parking operation, including providing access to the load space, may be a fully autonomous operation as part of a fully autonomous operation of the vehicle. The autonomous driving control system may determine the need for a user to access the load space itself or may receive the determination from another control system of the vehicle. The autonomous driving control system may send the recommence automated parking signal in dependence on a determination that it is safe to do.

[0022] The electronic control system may comprise one or more controllers collectively comprising at least one electronic processor having an electrical input for receiving an input signal; and at least one memory device electrically coupled to the at least one electronic processor and having instructions stored therein; and wherein the at least one electronic processor is configured to access the at least one memory device and execute the instructions thereon so as to: output one or more signals to cause the vehicle to perform an automated parking operation; determine a need for a user to access a load space of the vehicle in dependence on at least one of: a received load space access request signal indicative of a request to access a load space of the vehicle, and a stored user behaviour associated with a location of the automated parking operation; receive an accessibility signal indicative of available space for accessing the load space of the vehicle; and in dependence on the available space being below a threshold value, output one or more signals to pause the automated parking operation to enable a user to access the load space before the automated parking operation is complete.

[0023] According to a further aspect of the invention, there is provided a method for controlling an automated parking system of a vehicle, the method comprising determining a need for a userto access a load space of the vehicle; receiving an accessibility signal indicative of available space for accessing the load space of the vehicle; and in dependence on the indication of available space, pausing the automated parking operation to enable a user to access the load space before the automated parking operation is complete. In this way, the method allows forthe users of a vehicle to have convenient access to a load space of the vehicle that may have limited access after an automated parking operation.

[0024] According to a still further aspect of the invention, there is provided a method for controlling an automated parking system of a vehicle, the method comprising: outputting one or more signals to cause the vehicle to perform an automated parking operation; determining a need for a user to access a load space of the vehicle in dependence on at least one of: a received load space access request signal indicative of a request to access a load space of the vehicle, and a stored user behaviour associated with a location of the automated parking operation; receiving an accessibility signal indicative of available space for accessing the load space of the vehicle; and in dependence on the available space being below a threshold value, outputting one or more signals to pause the automated parking operation to enable a user to access the load space before the automated parking operation is complete.

[0025] In this way, the method can determine if a user will be able to access the vehicle’s load space / s after an automated parking operation, and if not, take steps to provide that access.

[0026] Optionally, the method may comprise receiving an automated parking request signal indicative of a request to perform an automated parking operation and outputting the one or more signals to cause the vehicle to perform the automated parking operation in dependence on receipt of the automated parking request signal. The automated parking request signal may be received from a user via an in-board input on the vehicle. The automated parking request signal may comprise the load space access request.

[0027] In an embodiment, the method may comprise recommencing the automated parking operation, in dependence on receipt of a recommence automated parking signal requesting the parking operation to recommence. The recommence automated parking signal may be received from the user, and may be received from the user via a remote device. The remote device may be, for example, a user’s personal communications device, or a vehicle access device. In this way, the user may instruct the parking operation from within the vehicle, exit the vehicle to access the load space, and then instruct recommencement of the parking operation from outside the vehicle. According to an aspect of the present invention there is provided an electronic control system for controlling an automated manoeuvring system of a vehicle, the electronic control system being configured to: determine a need for a user to access a load space of the vehicle; receive an accessibility signal indicative of available space for accessing the load space of the vehicle; and in dependence on the indication of available space, pause an automated deparking operation to enable a user to access the load space before the automated deparking operation is complete. In this way, the invention allows the user to access the load space even if access to the load space is restricted while the vehicle is parked.

[0028] According to another aspect of the present invention there is provided an electronic control system for controlling an automated manoeuvring system of a vehicle, the electronic control system comprising one or more processors collectively configured to: output one or more signals to cause the vehicle to perform an automated deparking operation; determine a need for a user to access a load space of the vehicle in dependence on at least one of: a received load space access request signal indicative of a request to access a load space of the vehicle, and a stored user behaviour associated with a location of the automated deparking operation; receive an accessibility signal indicative of available space for accessing the load space of the vehicle; and in dependence on the available space being above a threshold value, output one or more signals to pause the automated deparking operation to enable a user to access the load space before the automated deparking operation is complete.

[0029] In this way, the invention allows the electronic control system to determine if access to the load space is limited while the vehicle is in its parking space and take action to allow the user or passengers access to the load space in a more convenient manner. The user may specifically request access to the load space, for example in a semi-autonomous system. Alternatively, for example, in a fully automated vehicle, the determination of the need to access the load space may be determined by the electronic control system or another control system providing fully autonomous operation, based on historical user behaviour or the like.

[0030] Optionally, the electronic control system may be configured to receive an automated deparking request signal indicative of a request to perform an automated deparking operation and output the one or more signals to cause the vehicle to perform the automated deparking operation in dependence on receipt of the automated deparking request signal. In this way, the vehicle may be requested to initiate the automated deparking operation. The automated deparking request signal may be received from a user of the vehicle, e.g. driver or passenger, or from another control system within the vehicle, for example an autonomous driving control system.

[0031] In an embodiment, the electronic control system may be configured to receive the automated deparking request signal from the user via a remote device. In this way, the user may request the automated deparking operation while they are still outside the vehicle.

[0032] In an embodiment, the automated deparking request signal may comprise the load space access request. This is a convenient way of indicating that a user wishes to access the load space. For example, if a user wishes to place an in the load space, then they will request to be able to access to the load space before they begin their journey.

[0033] Optionally, the electronic control system may be configured to, in dependence on the available space being above the threshold value, take no action in relation to pausing the automated deparking operation. In this way, the automated deparking operation will not be paused unnecessarily.

[0034] Optionally, the electronic control system may be configured to: in dependence on received accessibility signal indicating the available space being below the threshold value, allow, or output one or more signals to cause, the automated deparking operation to commence or continue; receive an updated accessibility signal indicative of an updated available space for accessing the load space of the vehicle; and in dependence on the updated available space being above the threshold value, output one or more signals to pause the automated deparking operation to enable a user to access the load space before the automated deparking operation is complete. In this way, the automated deparking operation may be commenced and continue until sufficient space is available for the user to access the load space of the vehicle, at which point the automated deparking operation may be paused to allow the user to access the load space of the vehicle.

[0035] Optionally, the electronic control system may be configured to recommence the automated deparking operation, in dependence on receipt of a recommence automated deparking signal requesting the automated deparking operation to recommence. In this way, when the user is finished accessing the load space, the automated deparking operation can be recommenced and completed.

[0036] In an embodiment, the electronic control system may be configured to receive the recommence automated deparking signal from the user. In this way, the user can indicate when they have finished with the load space.

[0037] Optionally, the electronic control system may be configured to receive the recommence automated deparking signal from the user via an in-board input. In this way, where a user has waited outside the vehicle to access the load space, they do not have to wait outside the vehicle to instruct it to recommence the automated deparking operation. They may choose to take their seat in the vehicle and then instruct the vehicle to carry on with the deparking operation. The recommence automated deparking signal may also be received via a remote device. This is useful, for example, if the user prefers to remain outside the vehicle after accessing the load space.

[0038] In an embodiment, the electronic control system may be configured to receive an automated deparking request signal and output the one or more signals to cause the vehicle to perform the automated deparking operation in dependence on receipt of the automated deparking request signal, wherein the automated deparking request signal is received from an autonomous driving control system of the vehicle, and the need forthe user to access the load space of the vehicle is obtained by the autonomous driving control system; and the electronic control system may be configured to recommence the automated deparking operation in dependence on a signal from the autonomous driving control system. In this way, the automated deparking operation, including providing access to the load space, may be a fully autonomous operation as part of a fully autonomous operation of the vehicle. The autonomous driving control system may determine the need for a user to access the load space itself or may receive the determination from another control system of the vehicle. The autonomous driving control system may send the recommence automated deparking signal, for example, in dependence on a determination that it is safe to do.

[0039] The electronic control system may comprise one or more controllers collectively comprising at least one electronic processor having an electrical input for receiving an input signal; and at least one memory device electrically coupled to the at least one electronic processor and having instructions stored therein; and wherein the at least one electronic processor is configured to access the at least one memory device and execute the instructions thereon so as to: output one or more signals to cause the vehicle to perform an automated deparking operation; determine a need for a user to access a load space of the vehicle in dependence on at least one of: a received load space access request signal indicative of a request to access a load space of the vehicle, and a stored user behaviour associated with a location of the automated deparking operation; receive an accessibility signal indicative of available space for accessing the load space of the vehicle; and in dependence on the available space being above the threshold value, output one or more signals to pause the automated deparking operation to enable the user to access the load space before the automated deparking operation is complete.

[0040] According to a further aspect of the invention, there is provided a method for controlling an automated manoeuvring system of a vehicle, the method comprising determining a need for a user to access a load space of the vehicle; receiving an accessibility signal indicative of available space for accessing the load space of the vehicle; and in dependence on the indication of available space, pausing the automated deparking operation to enable a user to access the load space before the automated deparking operation is complete. In this way, the method allows the user of a vehicle to access the load space of the vehicle even if access to the load space is restricted while the vehicle is parked.

[0041] According to a still further aspect of the invention, there is provided a method for controlling an automated manoeuvring system of a vehicle, the method comprising: outputting one or more signals to cause the vehicle to perform an automated deparking operation; determining a need for a user to access a load space of the vehicle in dependence on at least one of: a received load space access request signal indicative of a request to access a load space of the vehicle, and a stored user behaviour associated with a location of the automated deparking operation; receiving an accessibility signal indicative of available space for accessing the load space of the vehicle; in dependence on the available space being above a threshold value, outputting one or more signals to pause the automated deparking operation to enable the user to access the load space before the automated deparking operation is complete.

[0042] In this way, the method can determine if a user can access the vehicle’s load spaces in its parking space before an automated deparking operation is performed, and if not, take steps to enable access during the automated deparking operation. Optionally, the method may comprise receiving an automated deparking request signal indicative of a request to perform an automated deparking operation and outputting the one or more signals to cause the vehicle to perform the automated deparking operation in dependence on receipt of the automated deparking request signal. The automated deparking request signal may be received from a user via a remote device. The automated deparking request signal may comprise the load space access request.

[0043] Optionally, the method may comprise: in dependence on the available space being above the threshold value at commencement of the automated deparking operation, taking no action in relation to pausing the automated deparking operation.

[0044] Optionally, the method may comprise: in dependence on received accessibility signal indicating the available space being below the threshold value, allowing, or outputting one or more signals to cause, the automated deparking operation to commence or continue; receiving an updated accessibility signal indicative of an updated available space for accessing the load space of the vehicle; and, in dependence on the updated available space being above the threshold value, outputting one or more signals to pause the automated deparking operation to enable the user to access the load space before the automated deparking operation is complete.

[0045] In an embodiment, the method may comprise recommencing the automated deparking operation, in dependence on receipt of a recommence automated deparking signal requesting the automated deparking operation to recommence. The recommence automated deparking signal may be received from the user, and may be received from the user via an on-board user interface of the vehicle. In this way, the user may instruct the deparking operation from outside the vehicle, access the load space, enter the vehicle, and then instruct recommencement of the deparking operation from inside the vehicle.

[0046] One or both of the electronic control system for controlling an automated parking system of a vehicle during an automated parking operation and the electronic control system for controlling an automated manoeuvring system of a vehicle during an automated deparking operation may be part of or operate in conjunction with an autonomous driving control system for controlling autonomous operations of the vehicle. The autonomous driving control system may determine the need for the user to access the load space itself or may receive the determination from another control system.

[0047] The electronic control system for controlling an automated parking system of a vehicle during an automated parking operation and the electronic control system for controlling an automated manoeuvring system of a vehicle during a deparking operating may be comprised within a single control system. Such a single control system may comprise one or more processors collectively configured to carry out the actions described herein. The electronic control system for controlling an automated parking system of a vehicle during an automated parking operation and the electronic control system for controlling an automated manoeuvring system of a vehicle during a deparking operating may be the same control system configured to operate in a parking mode to control the automated parking system of the vehicle during an automated parking operation and a deparking mode to control the automated manoeuvring system of the vehicle during an automated deparking operation. The automated parking system and the automated manoeuvring system may be comprised within a single system. Such a single system may comprise one or more processors collectively configured to carry out automated parking operations and automated deparking operations. The automated parking system and the automated manoeuvring system may be the same system configured to operate in a parking mode to perform automated parking operations and a deparking mode to perform automated deparking operations.

[0048] Optionally, the load space is a rear load space. Such load spaces are very common but can be inaccessible if a vehicle is parked too close to a rear boundary of the parking space, such as another vehicle, wall, other barrier or the like.

[0049] According to a still further aspect of the invention, there is provided computer-readable instructions which, when executed by a computer, are arranged to perform one or more of the methods described herein.

[0050] According to yet another aspect of the invention, there is provided an autonomous driving control system comprising the electronic control system as described herein. In this way, the electronic control system may contribute to autonomous operating modes, including semi-autonomous and fully autonomous modes.

[0051] According to an additional aspect of the invention, there is provided a vehicle comprising an electronic control system an autonomous driving control system as described herein. Such a vehicle can provide its users with convenient access to its load spaces even if an automated parking operation leaves the vehicle parked such that there is limited access to the or a load space.

[0052] Within the scope of this application, it is expressly intended that the various aspects, embodiments, examples and alternatives set out in the preceding paragraphs, in the claims and / or in the following description and drawings, and in particular the individual features thereof, may be taken independently or in any combination. That is, all embodiments and / or features of any embodiment can be combined in any way and / or combination, unless such features are incompatible. The applicant reserves the right to change any originally filed claim or file any new claim accordingly, including the right to amend any originally filed claim to depend from and / or incorporate any feature of any other claim although not originally claimed in that manner.

[0053] BRIEF DESCRIPTION OF THE DRAWINGS

[0054] One or more embodiments of the invention will now be described, by way of example only, with reference to the accompanying drawings, in which:

[0055] Fig. 1 shows a block diagram of an electronic controller according to an embodiment ofthe invention; Fig. 2 shows a block diagram of an electronic controller according to a further embodiment of the invention;

[0056] Fig. 3 shows a block diagram of an electronic controller according to a further embodiment of the invention;

[0057] Fig. 4 shows a flow diagram of a method according to an embodiment of the invention; Fig. 5 shows a block diagram of a system according to an embodiment of the invention;

[0058] Fig. 6 shows a flow chart of a method according to an embodiment of the invention;

[0059] Fig. 7 shows a flow diagram of a method according to an embodiment of the invention;

[0060] Fig. 8 shows a flow chart of a method according to an embodiment of the invention;

[0061] Fig. 9 shows a block diagram of a control system according to an embodiment of the invention;

[0062] Fig. 10 shows a front perspective view of a vehicle in accordance with an embodiment of the invention; and

[0063] Fig. 11 shows a rear perspective view of a vehicle in accordance with an embodiment of the invention.

[0064] DETAILED DESCRIPTION

[0065] An electronic control system in accordance with an embodiment of the present invention is described herein with reference to the accompanying Fig. 1. As shown in Figs. 14 and 15, the electronic control system is installed in a vehicle 1100. The vehicle 1 100 comprises a rear load space 1150, and may comprise one or more other load spaces, such as front load space (not shown), known as a front load space or trunk.

[0066] With reference to Fig. 1 , there is illustrated a block diagram of an electronic control system 100 for use in a vehicle. The electronic control system 100 is suitable for controlling an automated parking system of a vehicle. The electronic control system 100 is configured to determine a need for a user to access a load space of the vehicle. The electronic control system 100 is configured to receive an accessibility signal 102 indicative of available space for accessing the load space of the vehicle, and in dependence on the available space, to pause the automated parking operation. In this way, a user may be enabled to access the load space before the automated parking operation is complete, as it may not be possible to access the load space when the automated parking operation is complete.

[0067] With reference to Fig. 2, there is illustrated a block diagram of a further embodiment of the electronic control system 200. The electronic control system 200 comprises a processor 104. The processor 104 is configured to output a signal to cause the vehicle to perform an automated parking operation. The processor 104 is configured to determine a need for a user to access a load space of the vehicle. The processor 104 is configured to determine, in dependence on the accessibility signal 102, if the automated parking operation should be paused to enable a user to access the load space before the automated parking operation is complete. The processor 104 is configured to determine if the available space indicated by the accessibility signal 102 is below a threshold value, and if it is, to output a signal 106 to pause the automated parking operation to enable a user to access the load space before the automated parking operation is complete.

[0068] The electronic control system 200 is configured to determine a need for a user to access a load space of the vehicle in dependence on a stored user behaviour associated with the environment or context of the of the automated parking operation, such as the time of day, etc. In an example, the electronic control system 200 is configured to determine the need for a userto access the load space in dependence on a stored user behaviour associated with a location of the automated parking operation. In such a case, the electronic control system 200 may receive a location signal from another control system of the vehicle, such as a navigation system, or the electronic control system 200 may itself comprise functionality to determine the location of the vehicle at the time of the automated parking operation. The stored user behaviour may be determined in a number of ways. In an example, a stored user behaviour may be determined based on historical user behaviour. Additionally or alternatively, a stored user behaviour may be expressly saved into the electronic control system 200 by the user.

[0069] With reference to Fig. 3, there is illustrated another example of the electronic control system 300. The electronic control system 300 is configured to receive a load space access request signal 108, which is indicative of a request to access a load space of the vehicle. The processor 104 is configured to determine a need for a user to access a load space of the vehicle in dependence on receipt of the load space access request signal 108.

[0070] The electronic control system 100, 200, 300 as described herein in relation to Figs. 1 , 2, and 3 may be configured to output a signal to cause the automated parking operation to be completed once the user has accessed the load space. In an example, the processor 104 may be configured to determine if the automated parking operation may be recommenced, and may be configured to output a signal to cause the automated parking operation to be completed.

[0071] The electronic control system 100, 200, 300 as described herein in relation to Figs. 1 , 2, and 3 may comprise one processor, and be configured to receive one input signal, and configured to output one output signal although it will be appreciated that these configurations are merely illustrative and the electronic control system of the disclosure may comprise one or more processors 104, and be configured to receive one or more signals, and / or output one or more signals.

[0072] Referring now to Fig. 4, there is shown a flowchart of a method, indicated generally by the reference numeral 400, for controlling an automated parking system of a vehicle. The method 400 may be implemented by an electronic control system 100, 200, 300 as described herein in relation to Figs. 1 , 2, or 3, but is not limited thereto. The method 400 comprises, at block 402, outputting one or more signals to cause the vehicle to perform an automated parking operation. At block 404, the method 400 comprises determining a need for a user to access a load space of the vehicle in dependence on at least one of: a received load space access request signal indicative of a request to access a load space of the vehicle, and a stored user behaviour associated with a location of the automated parking operation. The method 400 comprises, at block 406 receiving an accessibility signal indicative of available space for accessing the load space of the vehicle. In block 408, in dependence on the available space being below a threshold value, the method 400 comprises outputting one or more signals to pause the automated parking operation to enable a user to access the load space before the automated parking operation is complete. The method may comprise recommencing and completing the parking operation automatically after the user has accessed the load space.

[0073] In use, the electronic control system 100, 200, 300 described herein in relation to Figs. 1 , 2, and 3 obtains an automated parking request signal indicative of a request to perform an automated parking operation. The automated parking request signal may be received from a user or from an autonomous driving control system of the vehicle. It will be understood that an autonomous driving mode in a vehicle may be implemented by a combination of various control systems including the electronic control system 100, 200, 300 according to the present disclosure. The electronic control system 100, 200, 300 may be a sub-system within such an autonomous driving control system, and / or may be one of a set of control systems used in providing autonomous driving. Where a user issues the automated parking request signal, it may be a direct request, in that the user has driven the vehicle to their destination and now wishes to hand over control of the parking operation to an autonomous driving mode of the vehicle to carry out the parking. The user may also issue an indirect request where the user uses an autonomous driving mode to complete a journey including the automated parking operation at the termination of the journey. In such a case, the indirect request from the user may also be considered to be a direct request from the autonomous driving control system.

[0074] When an automated parking operation is instructed, the electronic control system 100, 200, 300 outputs 402 instruction signals to trigger the automated parking operation. The electronic control system 100, 200, 300 determines 404 a need for a user to access a load space of the vehicle. This may comprise checking if the user will want access to a load space, such as a rear load space, when they exit the vehicle. In an example, the automated parking request signal may include a load space access request. In this way, in an example, where the user directly or indirectly requests an automated parking operation, they also specify that they will want access to the load space. Additionally or alternatively, an electronic control system of the vehicle, such as the electronic control system 100, 200, 300 but not limited thereto, may determine automatically that the user will want to, or at least is likely to, access the load space. Such automatic determination may be based on one or more factors including previous behaviour of the user, environmental factors, such as weather; vehicle location, whether the load space was accessed at the start of the journey, and so on. The automatic determination may be based on a stored user behaviour, which stored user behaviour may be automatically identified or may be programmed by a user. In an example, the electronic control system 100, 200, 300 determines a need for a user to access a load space of the vehicle in dependence on a stored user behaviour associated with a location of the automated parking operation. In such an example, the user may have entered instructions that they will want access to a load space at one or more locations; and / or it may have been determined that the user typically accesses the load space at that particular location. In this way, the user can, for example, take their work bag from the load space when they arrive at work, their recreation equipment from the load space when they arrive at a suitable recreation venue, their recycling from the load space when they arrive at a recycling facility, and so on.

[0075] When it has been determined that access to the load space is required when the user exits the vehicle, the electronic control system 100, 200, 300 is configured to receive 406 an accessibility signal 102 indicative of available space for accessing the load space of the vehicle. The accessibility signal 102 may be indicative of available space during the automated parking operation and / or at completion of the parking operation. In this way, the accessibility signal 102 may be based on real-time measurements and / or estimated measurements for a later time in the parking operation. The accessibility signal 102 may be based on a determination in relation to whether the load space will be accessible when the automated parking operation is complete. If accessibility signal 102 indicates that the available space for accessing the load space is below a threshold, the electronic control system 100, 200, 300 is configured to output a signal to pause the automated parking operation. However, if the accessibility signal 102 indicates that the available space for accessing the load space is above or equal to the threshold, no signal to pause the parking operation is output.

[0076] Where the accessibility signal 102 is indicative of available space during the automated parking operation, it may arise that the available space may be below the threshold during the automated parking operation. However, such size limitations may be indicated or determined as only temporary, for example, by reference to estimated measurements, and / or via an electronic control system, of the vehicle involved in the automated parking process. In such cases, the electronic control system may be the electronic control system 100, 200, 300 of the present disclosure, but not limited thereto. Where the accessibility signal 102 indicates that the available space is or will be too small at a time during the manoeuvre, it may be further indicated or determined that the available space will be above the threshold once the parking operation is complete. As such, if the available space at completion of the automated parking operation is above the threshold, the automated parking operation will not be paused, even if the available space falls below the threshold during the automated parking operation.

[0077] After the automated parking operation has been paused and when the user has accessed the load space, the parking operation is completed. The electronic control system 100, 200, 300 300 may be configured to recommence the automated parking operation, in dependence on receipt of a recommence automated parking signal requesting the parking operation to recommence. The user may cause the recommence automated parking signal to be generated when they are ready for the parking operation to be recommenced. The user may provide a command to the vehicle that causes the electronic control system 100, 200, 300 to output the recommence automated parking signal.

[0078] When the user is providing instructions to the electronic control system 100, 200, 300, or other electronic control systems of the vehicle, they may do so using an input device that is in-board to the vehicle, such as an in-car user interface. Such a user interface may include one or more of a graphical user interface (GUI), voice- controlled interface, gesture-controlled interface, eye-tracking interface, or other suitable in-board user interface. The user may also provide instructions via a remote device such as a remote access device for the vehicle, or a personal communications device e.g. mobile telephone, smart watch or the like. In an example, a remote access device may be implemented on the personal communications device, for instance as an app on a smart phone. The remote device may be present in the vehicle, for example, while the user is in the vehicle, but may also be removed from the vehicle. The remote device may be configured to communicate wirelessly with the vehicle, for example via a communications control system of the vehicle, and may use Bluetooth, Wi-Fi, cellular technologies or other suitable wireless communications method.

[0079] Referring now to Fig. 5 there is shown a system 500 comprising an electronic control system 600, an inboard user interface 502 of a vehicle and a remote device 504 having a user interface 506. The electronic control system 600 may be substantially similar to the electronic control system 100, 200, 300 as described herein in relation to in Figs. 1 , 2, and 3. Within the system 500, the electronic control system 600 may be configured to receive instructions, such as the automated parking request signal, load access request signal and the like, from a user via the in-board interface 502. The electronic control system 600 may be configured to recommence the automated parking operation in dependence on receipt of a recommence automated parking signal requesting the parking operation to recommence. The electronic control system 600 may be configured to receive the recommence automated parking signal from the user, for example via the remote device 504. In an example, the electronic control system 600 is configured to receive the recommence automated parking signal from the user via the user interface 506 of the remote device 504.

[0080] In this way, if the automated parking operation is paused to allow the user to access a load space, the user may have exited the vehicle to access the load space and may therefore be outside the vehicle. The user may not wish to re-enter the vehicle for the completion of the automated parking operation. Thus, once the user has finished with the load space, they can instruct the vehicle to complete the automated parking operation while outside the vehicle, using their remote device 504.

[0081] Referring now to Fig. 6, there is shown a flowchart of a method, indicated generally by the reference numeral 700, for controlling an automated parking system of a vehicle. The method 700 may be implemented by an electronic control system 100, 200, 300, 600 as described herein in relation to Figs. 1 , 2, 3, or 5 but is not limited thereto. The method 700 comprises, at block 702, outputting one or more signals to cause the vehicle to perform an automated parking operation. At block 704, the method 700 comprises determining a need for a user to access a load space of the vehicle in dependence on a received load space access request signal indicative of a request to access a load space of the vehicle. The load space access request signal is received from an in-board user interface of the vehicle. The method 700 comprises, at block 706 receiving an accessibility signal indicative of available space for accessing the load space of the vehicle. In block 708, in dependence on the available space being below a threshold value, the method 700 comprises outputting one or more signals to pause the automated parking operation to enable a user to access the load space before the automated parking operation is complete. The method 700 comprises recommencing 710 the automated parking operation, in dependence on receipt of a recommence automated parking signal requesting the parking operation to recommence, where the recommence automated parking signal is received from the user via a remote device.

[0082] While the electronic control system 100, 200, 300, 600 described herein may be configured to receive the recommence automated parking signal via a user input, either on an in-board user interface or via a remote device, the recommence automated parking signal may also be provided from other sources. For example, the electronic control system 100, 200, 300, 600 may determine that the user has completed their access for the load space, and automatically recommence the automated parking operation. Such an automatic operation may comprise a verification with the user before recommencing the parking operation. The user may verify or confirm the operation from the in-board device or the remote device.

[0083] In an example according to the present disclosure, the electronic control system for controlling an automated parking system of a vehicle may be configured to receive an automated parking request signal from a user via an in-board input, the automated parking request signal being indicative of a user request to perform an automated parking operation and comprising a load space access request indicative of a request from the user to access a load space of the vehicle. The electronic control system may be configured to obtain a load space clearance value indicative of an access clearance distance, where the access clearance distance is the clearance distance beyond the vehicle for accessing the load space. The electronic control system may be configured to obtain vehicle parking data for the automated parking operation, the vehicle parking data including data indicative of a projected final clearance distance, where the projected final clearance distance is the clearance distance beyond the vehicle adjacent the load space when the automated parking operation is complete. The electronic control system may be configured to determine if the load space will be accessible when the automated parking operation is complete, in dependence on the load space clearance value and the vehicle parking data. The electronic control system may be configured to output an instruction to implement the automated parking operation including an instruction to pause the automated parking operation when the vehicle is positioned to have a clearance distance beyond the vehicle at the load space that is greater than or equal to the access clearance distance. The electronic control system may be configured to receive a recommence automated parking signal from the user via a remote device, the recommence automated parking signal being indicative of an instruction from the user to recommence the automated parking operation. The electronic control system may be configured to output an instruction to complete the automated parking operation. Features of this example may be combined with and / or replace features of other examples and embodiments described herein and are encompassed within the scope of the disclosure.

[0084] Examples of the electronic control system 100, 200, 300, 600 disclosed herein may form part of or work in conjunction with one or more autonomous driving control systems with a vehicle configured to provide fully or partially autonomous driving modes. In an example, the electronic control system may be configured to receive an automated parking request signal and output the one or more signals to cause the vehicle to perform the automated parking operation in dependence on receipt of the automated parking request signal, wherein the automated parking request signal is received from an autonomous driving control system of the vehicle, the need for a user to access the load space of the vehicle is obtained by the autonomous driving control system. Further, the electronic control system 100, 200, 300, 600 may be configured to recommence the automated parking operation in dependence on a signal from the autonomous driving control system.

[0085] Examples described in the present disclosure relate to an electronic control system for controlling an automated parking system of a vehicle. The electronic control system may be configured to receive an automated parking request signal and a load space access request indicative of a request to access a load space of the vehicle; determine if the load space will be accessible when the automated parking operation is complete; if not, output an instruction to pause the automated parking operation when the vehicle is at a position where the load space is accessible; receive a recommence automated parking signal; and output an instruction to complete the automated parking operation.

[0086] Referring back to Fig. 1 , the electronic control system 100 may additionally or alternatively be suitable for controlling other automated manoeuvring systems of a vehicle, such as an automated manoeuvring system configured to perform automated deparking operations for vacating parking spaces. A parking space to be vacated may be one for which an automated parking operation was previously implemented, and may be one, for example, for which an automated parking operation with a load access pause was previously implemented in line with the teachings herein in relation to the electronic control devices 100, 200, 300 described herein in relation to Figs. 1 , 2 and 3 and / or by the method 400 described in relation to Fig. 4, however the disclosure is not limited thereto.

[0087] The electronic control system 100 is configured to determine a need for a user to access a load space of the vehicle. In accordance with some embodiments, the electronic control system 100 is configured to receive an accessibility signal 102 indicative of available space for accessing the load space of the vehicle, and in dependence on the available space, to pause an automated deparking operation. In this way, a user may be enabled to access the load space before the automated deparking operation is complete, as it may not be possible to access the load space before the automated deparking operation begins.

[0088] Referring back to Fig. 2, the processor 104 may additionally or alternatively be configured to output a signal to cause the vehicle to perform an automated deparking operation. The processor 104 is configured to determine a need for a user to access a load space of the vehicle. The processor 104 may be configured to determine, in dependence on the accessibility signal 102, if the automated deparking operation should be paused to enable a user to access the load space before the automated deparking operation is complete.

[0089] In accordance with some embodiments, the processor 104 is configured to determine if the available space indicated by the accessibility signal 102 is below a threshold value, and if it is, to output a signal 106 to commence the automated deparking operation. The processor 104 may be configured to receive an updated accessibility signal 102 indicative of an updated available space for accessing the load space of the vehicle, and to determine if the updated available space indicated by the updated accessibility signal 102 is above the threshold value, and if it is, to output a signal 106 to pause the automated deparking operation to enable a user to access the load space before the automated deparking operation is complete. The updated accessibility signal 102 may be considered to be indicative of available space during the automated deparking operation.

[0090] The electronic control system 200 may be configured to determine a need for a user to access a load space of the vehicle in dependence on a stored user behaviour associated with the environment or context of the automated deparking operation, such as the time of day, etc. The stored user behaviour may be determined in a number of ways. In an example, a stored user behaviour may be determined based on historical user behaviour. In this way, the stored user behaviour may be that the use accessed the load space when the vehicle was being parked immediately previous to the current deparking operation. Additionally or alternatively, a stored user behaviour may be expressly saved into the electronic control system 200 by the user. In an example, the electronic control system 200 is configured to determine the need for a user to access the load space in dependence on a stored user behaviour associated with a location of the automated deparking operation. In such a case, the electronic control system 200 may receive a location signal from another control system of the vehicle, such as a navigation system, or the electronic control system 200 may itself comprise functionality to determine the location of the vehicle at the time of the automated deparking operation.

[0091] Referring back to Fig. 3, the electronic control system 300 may additional or alternatively be configured to receive a load space access request signal 108, which is indicative of a request to access a load space of the vehicle. The processor 104 may be configured to determine a need for a user to access a load space of the vehicle in dependence on receipt of the load space access request signal 108.

[0092] The electronic control system 100, 200, 300 as described herein in relation to Figs. 1 , 2 and 3 may be configured to output a signal to cause the automated deparking operation to be completed once the user has accessed the load space. In an example, the processor 104 may be configured to determine if the automated deparking operation may be recommenced, and may be configured to output a signal to cause the automated deparking operation to be completed.

[0093] The electronic control system 100, 200, 300 as described herein in relation to Figs. 1 , 2 and 3 may comprise one processor, and be configured to receive one input signal, and configured to output one output signal although it will be appreciated that these configurations are merely illustrative and the electronic control system of the disclosure may comprise one or more processors 104, and be configured to receive one or more signals, and / or output one or more signals.

[0094] Referring now to Fig. 7, there is shown a flowchart of a method, indicated generally by the reference numeral 900, for controlling an automated manoeuvring system of a vehicle. The method 900 may be implemented by an electronic control system 100, 200, 300 as described herein in relation to Figs. 1 , 2 and 3, but is not limited thereto. The method 800 comprises, at block 802, outputting one or more signals to cause the vehicle to perform an automated deparking operation. At block 804, the method 800 comprises determining a need for a user to access a load space of the vehicle in dependence on at least one of: a received load space access request signal indicative of a request to access a load space of the vehicle, and a stored user behaviour associated with a location of the automated deparking operation. The method 800 comprises, at block 806 receiving an accessibility signal indicative of available space for accessing the load space of the vehicle. In block 808, in dependence on the available space being above the threshold value, the method 800 comprises outputting one or more signals to pause the automated deparking operation to enable a user to access the load space before the automated deparking operation is complete. The method may comprise recommencing and completing the deparking operation automatically after the user has accessed the load space.

[0095] In use, the electronic control system 100, 200, 300 described herein in relation to Figs. 1 , 2 and 3 obtains an automated deparking request signal indicative of a request to perform an automated deparking operation for vacating a parking space. The parking space may be one for which an automated parking operation was performed, but the disclosure is not limited thereto. The automated deparking request signal may be received from a user or from an autonomous driving control system of the vehicle. It will be understood that an autonomous driving mode in a vehicle may be implemented by a combination of various control systems including the electronic control system 100, 200, 300 according to the present disclosure. As previously mentioned, the electronic control system 100, 200, 300 may be a sub-system within such an autonomous driving control system, and / or may be one of a set of control systems used in providing autonomous driving. Where a user issues the automated deparking request signal, it may be an indirect request, in that the user has entered the vehicle and has instructed an autonomous driving mode to complete a journey including the automated deparking operation at the beginning thereof. The user may also issue a direct request where the user wants to have an automated deparking operation at their beginning of their journey but then intends to take over driving the vehicle. The indirect request from the user may also be considered to be a direct request from the autonomous driving control system.

[0096] When an automated deparking operation is instructed, the electronic control system 100, 200, 300 outputs 102 instruction signals to trigger the automated deparking operation. The electronic control system 100, 200, 300 determines 104 a need for a user to access a load space of the vehicle. This may comprise checking if the user will want access to a load space, such as a rear load space, before they commence their journey. In an example, the automated deparking request signal may include a load space access request. In this way, in an example, where the user directly or indirectly requests an automated deparking operation, they also specify that they will want access to the load space. Additionally or alternatively, a electronic control system of the vehicle, such as the electronic control system 100, 200, 300 but not limited thereto, may determine automatically that the user will want to, or at least is likely to want to, access the load space. Such automatic determination may be based on one or more factors including previous behaviour of the user, environmental factors, such as weather; vehicle location; whether the load space was accessed at the end of the previous journey, and so on. The automatic determination may be based on a stored user behaviour, which stored user behaviour may be automatically identified or may be programmed by a user. In an example, the electronic control system 100, 200, 300 determines a need for a userto access a load space of the vehicle in dependence on a stored user behaviour associated with the automated deparking operation. In such an example, the user may have entered instructions that they will want access to a load space at one or more locations; and / or it may have been determined that the user typically accesses the load space at that particular location. In this way, the user can, for example, load their work bag into the load space when they are leaving their place of work; their recreation equipment into the load space when they leave a suitable recreation venue; their groceries into the load space when they leaving a supermarket; and so on.

[0097] When it has been determined that access to the load space is required when the user approaches the vehicle, the electronic control system 100, 200, 300 is configured to receive 106 an accessibility signal 102 indicative of available space for accessing the load space of the vehicle. The accessibility signal 102 may be indicative of available space while the vehicle is in its parked position and / or during the automated deparking operation. In this way, the accessibility signal 102 may be based on real-time measurements. If the accessibility signal 102 indicates that the available space for accessing the load space is below a threshold, the electronic control system 100, 200, 300 is configured to output a signal to commence, or continue, the automated deparking operation. The electronic control system 100, 200, 300 is then configured to receive an updated accessibility signal indicative of an updated available space for accessing the load space of the vehicle. The updated accessibility signal 102 may be considered to be indicative of available space during the automated deparking operation. The electronic control system 100, 200, 300 may receive the accessibility signal 102 as a continuous signal, substantially continuous signal, regularly updated signal, or in other manners as will be understood by the person skilled in the art. If the accessibility signal 102 indicates that the available space for accessing the load space is above the threshold value, the electronic control system 100, 200, 300 is configured to output a signal to pause the automated deparking operation. In this way, the user can access the load space when the vehicle has moved sufficiently to allow access to the load space. If the accessibility signal 102 indicates at the beginning of the automated deparking operation that the available space for accessing the load space is above or equal to the threshold value, a signal to pause the automated deparking operation may be output prior to commencement of the automated deparking operation.

[0098] After the automated deparking operation has been paused and when the user has accessed the load space, the automated deparking operation is completed. The electronic control system 100, 200, 300 300 may be configured to recommence the automated deparking operation, in dependence on receipt of a recommence automated deparking signal requesting the automated deparking operation to recommence. The user may cause the recommence automated deparking signal to be generated when they are ready for the deparking operation to be recommenced. The user may provide a command to the vehicle that causes the electronic control system 100, 200, 300 to output the recommence automated deparking signal.

[0099] When the user is providing instructions to the electronic control system 100, 200, 300, or other electronic control systems of the vehicle, they may do so using an input device that is in-board to the vehicle, such as an in-car user interface. Such a user interface may include one or more of a graphical user interface (GUI), voice- controlled interface, gesture-controlled interface, eye-tracking interface, or other suitable in-board user interface. The user may also provide instructions via a remote device such as a remote access device for the vehicle, or a personal communications device e.g. mobile telephone, smart watch or the like. In an example, a remote access device may be implemented on the personal communications device, for instance as an app on a smart phone. The remote device may be present in the vehicle, for example, while the user is in the vehicle, but may also be removed from the vehicle. The remote device may be configured to communicate wirelessly with the vehicle, for example via a communications control system of the vehicle, and may use Bluetooth, Wi-Fi, cellular technologies or other suitable wireless communications method.

[0100] Referring back to Fig. 5, the electronic control system 600 may additionally or alternatively be configured to receive instructions, such as the automated deparking request signal, load access request signal and the like, from a user for example via the remote device 504. The electronic control system 600 may be configured to recommence the automated deparking operation in dependence on receipt of a recommence automated deparking signal requesting the automated deparking operation to recommence. The electronic control system 600 may be configured to receive the recommence automated deparking signal from the user, for example via the in-board interface 502.

[0101] In this way, the user may wish to access the load space before taking their seat in the vehicle, thus they can generate the automated deparking request, which may include the load space access request signal, from the user interface 506 of the remote device 504. Then after the automated deparking operation has been paused and the user has accessed the load space, the user may wish to enter the vehicle for the completion of the automated deparking operation. Thus, they can instruct the vehicle to complete the automated deparking operation from their seat in the vehicle using the in-board interface 502.

[0102] Referring now to Fig.8, there is shown a flowchart of a method, indicated generally by the reference numeral 1000, for controlling an automated manoeuvring system of a vehicle. The method 1000 may be implemented by an electronic control system 100, 200, 300, 600 as described herein in relation to Figs. 1 , 2, 3, or 5 but is not limited thereto. The method 1000 comprises, at block 1002, outputting one or more signals to cause the vehicle to perform an automated deparking operation. At block 1004, the method 1000 comprises determining a need for a userto access a load space of the vehicle in dependence on a received load space access request signal indicative of a request to access a load space of the vehicle. The load space access request signal is received from a user interface of a remote device associated with the vehicle. The method 1000 comprises, at block 1006 receiving an accessibility signal indicative of available space for accessing the load space of the vehicle. In block 1008, in dependence on the available space being below a threshold value, the method 1000 comprises outputting one or more signals to commence the automated deparking operation. The method 1000 comprises, at block 1010, receiving an updated accessibility signal indicative of an updated available space for accessing the load space of the vehicle. At block 1012, in dependence on the updated available space being above the threshold value, the method 1000 comprises outputting one or more signals to pause the automated deparking operation to enable a user to access the load space before the automated deparking operation is complete. The method 1000 comprises, at block 1014 recommencing the automated deparking operation, in dependence on receipt of a recommence automated deparking signal requesting the automated deparking operation to recommence, where the recommence automated deparking signal is received from the user via an in-board user interface of the vehicle.

[0103] While the electronic control system 100, 200, 300, 600 described herein may be configured to receive the recommence automated deparking signal via a user input, either on an in-board user interface or via a remote device, the recommence automated deparking signal may also be provided from other sources. For example, the electronic control system 100, 200, 300, 600 may determine that the user has completed their access for the load space, and automatically recommence the automated deparking operation. Such an automatic operation may comprise a verification with the user before recommencing the automated deparking operation. The user may verify or confirm the operation from the in-board device or the remote device.

[0104] In an example according to the present disclosure, the electronic control system for controlling an automated manoeuvring system of a vehicle may be configured to receive an automated deparking request signal for vacating a parking space from a user via a remote device, the automated deparking request signal being indicative of a user request to perform an automated deparking operation and comprising a load space access request indicative of a request from the user to access a load space of the vehicle. The electronic control system may be configured to obtain a load space clearance value indicative of an access clearance distance, where the access clearance distance is the clearance distance beyond the vehicle for accessing the load space. The electronic control system may be configured to output an instruction to implement the automated deparking operation including an instruction to pause the automated deparking operation when the vehicle is positioned to have a clearance distance beyond the vehicle at the load space that is greater than or equal to the access clearance distance. The electronic control system may be configured to receive a recommence automated deparking signal from the user via an in-board input, the recommence automated deparking signal being indicative of an instruction from the user to recommence the automated deparking operation. The electronic control system may be configured to output an instruction to complete the automated deparking operation. Features of this example may be combined with and / or replace features of other examples and embodiments described herein and are encompassed within the scope of the disclosure.

[0105] Examples of the electronic control system 100, 200, 300, 600 disclosed herein may form part of or work in conjunction with one or more autonomous driving control systems of a vehicle configured to provide fully or partially autonomous driving modes. In an example, the electronic control system may be configured to receive an automated deparking request signal and output the one or more signals to cause the vehicle to perform the automated deparking operation in dependence on receipt of the automated deparking request signal, wherein the automated deparking request signal is received from an autonomous driving control system of the vehicle, the need for a user to access the load space of the vehicle is obtained by the autonomous driving control system. Further, the electronic control system 100, 200, 300, 600 may be configured to recommence the automated deparking operation in dependence on a signal from the autonomous driving control system.

[0106] Examples described in the present disclosure relate to a electronic control system for controlling an automated manoeuvring system of a vehicle. The electronic control system may be configured to receive an automated deparking request signal and a load space access request indicative of a request to access a load space of the vehicle; determine if the load space will be accessible when the automated deparking operation is complete; if not, output an instruction to pause the automated deparking operation when the vehicle is at a position where the load space is accessible; receive a recommence automated deparking signal; and output an instruction to complete the automated deparking operation.

[0107] Examples described in the present disclosure relate to an electronic control system for controlling an an automated manoeuvring system, such as an automated parking system, of a vehicle during an automated parking operation and to a electronic control system for controlling an automated manoeuvring system of a vehicle during an automated deparking operation.

[0108] The electronic control systems herein described for controlling an automated manoeuvring system during an automated parking operation and an automated manoeuvring system during a deparking operating may be comprised within a single control system. Such a single control system may comprise one or more processors collectively configured to carry out the actions described herein.

[0109] Fig. 9 shows a block diagram of an embodiment of a control system 1050 comprising the electronic control system 100a for controlling an automated manoeuvring system during an automated parking operation and the electronic control system 100b for controlling an automated manoeuvring system during an automated deparking operation. It will be understood that the control system 1050 may comprise any of the electronic control systems described herein in combination with any of the electronic control systems described herein. In an alternative embodiment, the electronic control system for controlling an automated manoeuvring system of a vehicle during an automated parking operation and the electronic control system for controlling an automated manoeuvring system of a vehicle during a deparking operating may be the same control system 100 configured to operate in a parking mode to control the automated parking system of the vehicle during an automated parking operation and a deparking mode to control the automated manoeuvring system of the vehicle during an automated deparking operation.

[0110] Throughout the description the load space may be considered to be a rear load space such as a trunk or boot, but it will be understood that the teachings herein are not limited to use with a rear load space and are also applicable to other load spaces such as a front load space, such as a front trunk (“trunk”). In an example, the accessibility signal described herein may be determined in dependence on the space or distance beyond the footprint of the vehicle 1100 that a rear load space door 1 152 and / or tailgate 1 154 extends when open.

[0111] It will be appreciated that various changes and modifications can be made to the present invention without departing from the scope of the present application.

[0112] Further examples may be found in the following numbered clauses.

[0113] 1. An electronic control system for controlling an automated manoeuvring system of a vehicle, the electronic control system comprising one or more processors collectively configured to: output one or more signals to cause the vehicle to perform an automated deparking operation; determine a need for a user to access a load space of the vehicle in dependence on at least one of: a received load space access request signal indicative of a request to access a load space of the vehicle, and a stored user behaviour associated with a location of the automated deparking operation; receive an accessibility signal indicative of available space for accessing the load space of the vehicle; and in dependence on the available space being above a threshold value, output one or more signals to pause the automated deparking operation to enable the user to access the load space before the automated deparking operation is complete.

[0114] 2. An electronic control system of clause 1 configured to receive an automated deparking request signal indicative of a request to perform an automated deparking operation and output the one or more signals to cause the vehicle to perform the automated deparking operation in dependence on receipt of the automated deparking request signal.

[0115] 3. An electronic control system of clause 2 configured to receive the automated deparking request signal from the user via a remote device.

[0116] 4. An electronic control system of clause 3 wherein the automated deparking request signal comprises the load space access request.

[0117] 5. An electronic control system of any preceding clause configured to, in dependence on the available space being above the threshold value at commencement of the automated deparking operation, take no action in relation to pausing the automated deparking operation. 6. An electronic control system of any preceding clause configured to: in dependence on received accessibility signal indicating the available space being below the threshold value, allow, or output one or more signals to cause, the automated deparking operation to commence or continue; receive an updated accessibility signal indicative of an updated available space for accessing the load space of the vehicle; and in dependence on the updated available space being above the threshold value, output one or more signals to pause the automated deparking operation to enable the user to access the load space before the automated deparking operation is complete.

[0118] 7. An electronic control system of any preceding clause configured to recommence the automated deparking operation, in dependence on receipt of a recommence automated deparking signal requesting the automated deparking operation to recommence.

[0119] 8. An electronic control system of clause 7 configured to receive the recommence automated deparking signal from the user.

[0120] 9. An electronic control system of clause 8 configured to receive the recommence automated deparking signal from the user via an in-board input.

[0121] 10. An electronic control system of clause 1 configured to: receive an automated deparking request signal and output the one or more signals to cause the vehicle to perform the automated deparking operation in dependence on receipt of the automated deparking request signal, wherein the automated deparking request signal is received from an autonomous driving control system of the vehicle, and the need for the user to access the load space of the vehicle is obtained by the autonomous driving control system; and recommence the automated deparking operation in dependence on a signal from the autonomous driving control system.

[0122] 11. An electronic control system of any preceding clause where the load space is a rear load space.

[0123] 12. An autonomous driving control system comprising the electronic control system of any preceding clause.

[0124] 13. A vehicle comprising the system of clause 12 or the control system of clauses 1 to 11.

[0125] 14. A method for controlling an automated manoeuvring system of a vehicle, the method comprising: outputting one or more signals to cause the vehicle to perform an automated deparking operation; determining a need for a user to access a load space of the vehicle in dependence on at least one of: a received load space access request signal indicative of a request to access a load space of the vehicle, and a stored user behaviour associated with a location of the automated deparking operation; receiving an accessibility signal indicative of available space for accessing the load space of the vehicle; and in dependence on the available space being above a threshold value, outputting one or more signals to pause the automated deparking operation to enable the user to access the load space before the automated deparking operation is complete. 15. Computer readable instructions which, when executed by a computer, are arranged to perform a method according to the method of clause 14.

Claims

CLAIMS1 . An electronic control system for controlling an automated parking system of a vehicle, the electronic control system comprising one or more processors collectively configured to: output one or more signals to cause the vehicle to perform an automated parking operation; determine a need for a user to access a load space of the vehicle in dependence on at least one of: a received load space access request signal indicative of a request to access a load space of the vehicle, and a stored user behaviour associated with a location of the automated parking operation; receive an accessibility signal indicative of available space for accessing the load space of the vehicle; and in dependence on the available space being below a threshold value, output one or more signals to pause the automated parking operation to enable a user to access the load space before the automated parking operation is complete.

2. An electronic control system as claimed in claim 1 configured to receive an automated parking request signal indicative of a request to perform an automated parking operation and output the one or more signals to cause the vehicle to perform the automated parking operation in dependence on receipt of the automated parking request signal.

3. An electronic control system as claimed in claim 2 configured to receive the automated parking request signal from a user via an in-board input.

4. An electronic control system as claimed in claim 3 wherein the automated parking request signal comprises the load space access request.

5. An electronic control system as claimed in any preceding claim wherein the accessibility signal is indicative of available space at completion of the parking operation.

6. An electronic control system as claimed in any preceding claim configured to, in dependence on the available space being above the threshold value, take no action in relation to pausing the automated parking operation.

7. An electronic control system as claimed in any preceding claim configured to recommence the automated parking operation, in dependence on receipt of a recommence automated parking signal requesting the parking operation to recommence.

8. An electronic control system as claimed in claim 7 configured to receive the recommence automated parking signal from the user.

9. An electronic control system as claimed in claim 8 configured to receive the recommence automated parking signal from the user via a remote device.

10. An electronic control system as claimed in claim 1 configured to: receive an automated parking request signal and output the one or more signals to cause the vehicle to perform the automated parking operation in dependence on receipt of the automated parking request signal, wherein the automated parking request signal is received from an autonomous driving control system of the vehicle, and the need for a user to access the load space of the vehicle is obtained by the autonomous driving control system; and recommence the automated parking operation in dependence on a signal from the autonomous driving control system.1 1. An electronic control system as claimed in any preceding claim where the load space is a rear load space.

12. An autonomous driving control system comprising the electronic control system as claimed in any preceding claim.

13. A vehicle comprising the system of claim 12 or the control system of claims 1 to 11 .

14. A method for controlling an automated parking system of a vehicle, the method comprising: outputting one or more signals to cause the vehicle to perform an automated parking operation; determining a need for a user to access a load space of the vehicle in dependence on at least one of: a received load space access request signal indicative of a request to access a load space of the vehicle, and a stored user behaviour associated with a location of the automated parking operation; receiving an accessibility signal indicative of available space for accessing the load space of the vehicle; and in dependence on the available space being below a threshold value, outputting one or more signals to pause the automated parking operation to enable a user to access the load space before the automated parking operation is complete.

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

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