Patent Publication Number: US-2022212687-A1

Title: Apparatus and method for use with a vehicle

Description:
TECHNICAL FIELD 
     Aspects of the disclosure relate to a system, to a vehicle, to a method, and to computer software. 
     BACKGROUND AND SUMMARY 
     Driver assistance systems are being provided with increasing numbers of features. However, it may be desired to only make such features selectively available. That is, to only make features of driver assistance systems available at certain times. In some embodiments, it may be desired to make remotely accessible features of the driver assistance system available only at certain times. The remotely accessible features may include features which control one or more functions such as steering, acceleration and braking of the vehicle. 
     It is an object of embodiments of the disclosure to at least mitigate one or more of the problems of the prior art. 
     According to aspects of the present disclosure, there is provided a driver assistance system, a vehicle, a method and computer software. 
     According to an aspect of the present disclosure, there is provided a driver assistance system for a vehicle, the system comprising one or more controllers, the driver assistance system configured to receive location information indicative of a location of the vehicle, receive data indicative of one or more visible characteristics in an environment of the vehicle, determine, in dependence on one or more visible characteristics in the environment of the vehicle, determine, in dependence on the location information and the visible characteristics, an availability of a feature of the vehicle, and output a signal indicative of the availability of the remotely accessible feature. The feature of the vehicle is determined to be available in appropriate conditions. The feature may be a remotely available feature. The remotely available feature is only available when appropriate. 
     According to another aspect of the present disclosure, there is provided a driver assistance system for a vehicle, the system comprising one or more controllers, the driver assistance system configured to receive location information indicative of a location of the vehicle, determine, in dependence on image data received from one or more imaging devices associated with the vehicle, one or more visible characteristics in an environment of the vehicle, determine, in dependence on the location information and the visible characteristics, an availability of a remotely accessible feature of the vehicle and output a signal indicative of the availability of the remotely accessible feature. The remotely accessible feature of the vehicle is determined to be available in appropriate conditions. 
     The one or more controllers optionally comprise an electrical input for receiving an electrical signal indicative of the location information, an electrical input for receiving an electrical signal indicative of the image data from the one or more imaging devices, an electrical output for outputting an electrical signal indicative of the availability of the remotely accessible feature and one or more electronic processors for operatively executing computer-readable instructions to determine the availability of the remotely accessible feature of the vehicle. 
     The one or more visible characteristics may comprise roadway demarcation markings in the environment of the vehicle. The availability of the remotely accessible feature is determined in dependence on a presence of the roadway demarcation markings in the environment of the vehicle. The availability may be determined in an absence of the roadway demarcation markings. 
     The roadway demarcation markings may comprises lane demarcation markings. The remotely accessible feature may be determined to be available in dependence on the presence of lane demarcation markings indicative of the location of the vehicle being a public roadway. 
     Optionally the one or more visible characteristics comprise parking demarcation markings. The remotely accessible feature may be determined to be available in dependence on the presence of parking demarcation markings indicative of the location of the vehicle being a public parking area. 
     The parking demarcation markings may comprise markings indicative of one or both of parking bays or no-parking areas. 
     The visible characteristics may comprise roadway signage. The remotely accessible feature may be determined to be available in dependence on the presence of roadway signage indicative of the location of the vehicle being a public roadway or accessible area. 
     The one or more visible characteristics comprise roadway demarcation markings in the environment of the vehicle, roadway signage and parking demarcation markings. The availability of the remotely accessible feature is determined in dependence on a presence of the roadway demarcation markings, roadway signage and parking demarcation markings in the environment of the vehicle. The availability may be determined in an absence of the aforementioned features. 
     The remotely accessible feature of the vehicle is optionally determined to be available when the visible information is indicative of the vehicle being off-road. The remotely accessible feature is only available when off-road. The remotely accessible feature is only available when not in a public location. 
     The visible information may be indicative of the vehicle being off-road in an absence of roadway demarcation markings in the environment of the vehicle. The remotely accessible feature is only available when not on a public roadway. 
     The visible information may be indicative of the vehicle being off-road in an absence of roadway signage. The remotely accessible feature is only available when not on a public roadway. 
     Optionally the determination of the availability of the remotely accessible feature comprises interpreting the roadway signage. The interpreting may be to determine whether the signage is indicative of the vehicle being off-road. An interpreted meaning of the roadway signage may be used to determine whether the remotely accessible feature is available. 
     The remotely accessible feature of the vehicle may be determined to be available when the location of vehicle is not within a predetermined distance of a road associated with one or more predetermined road classifications. It is ensured that the vehicle is not present on or adjacent to the roadway. 
     Optionally, determining the availability of the remotely accessible feature of the vehicle comprises determining, with respect to digital map data, whether the location of the vehicle corresponds to an off-road location. The digital map data is conveniently used to determine if the location of the vehicle is off-road. 
     Optionally, determining the availability of the remotely accessible feature may be performed using only the digital map data i.e. without the visible characteristics. It may only be necessary to use the digital map data to determine the availability. 
     Determining the availability of the remotely accessible feature of the vehicle optionally comprises determining whether the location of the vehicle corresponds to an off-road location in dependence on the visible characteristics. The visible characteristics may be used if it is not determined that the location of the vehicle corresponds to an off-road location in dependence on the digital map data. The visible characteristic may improve a reliability of the determination of the availability of the remotely accessible feature. 
     The remotely accessible feature may allow a user to control one or both of an acceleration and a steering of the vehicle via a remote device. A feature controlling the vehicle&#39;s acceleration and steering may be controlled in dependence on the determined availability. 
     Determining the availability of the remotely accessible feature of the vehicle may comprise determining the availability in dependence on the vehicle being subject to one or more external conditions, such as surface conditions or weather conditions. The remotely accessible feature is only determined to be available in appropriate external conditions. 
     Optionally, determining the availability of the remotely accessible feature of the vehicle comprises determining the availability in dependence on a status of one or more vehicle systems. The systems may relate to a vehicle powertrain or vehicle suspension. The remotely accessible feature is only determined to be available when the status of the one or more vehicle systems is appropriate. 
     The one or more vehicle systems may one or both of a terrain response system and a suspension system of the vehicle. The status is determined in dependence on the environment of the vehicle. 
     According to a further aspect of the present disclosure, there is provided a vehicle comprising the system described above. 
     According to a still further aspect of the present disclosure, there is provided a method of determining an availability of a remotely accessible feature of a vehicle, the method comprising receiving location information indicative of a location of the vehicle, determining, in dependence on image data received from one or more imaging devices associated with the vehicle, one or more visible characteristics in an environment of the vehicle, determining, in dependence on the location information and the visible characteristics, an availability of a remotely accessible feature of the vehicle and outputting a signal indicative of the availability of the remotely accessible feature. 
     The one or more visible characteristics optionally comprise roadway demarcation markings in the environment of the vehicle. 
     The one or more visible characteristics optionally comprise parking demarcation markings. 
     The one or more visible characteristics optionally comprise roadway signage. 
     According to yet further aspect of the present disclosure, there is provided computer software which, when executed by a computer, is arranged to perform a method as described above. The computer software may be tangibly stored on a computer readable medium. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Embodiments of the disclosure will now be described by way of example only, with reference to the accompanying figures, in which: 
         FIG. 1  is a schematic illustration of a driver assistance system for a vehicle according to an embodiment of the disclosure; 
         FIG. 2  is a schematic illustration of a vehicle according to an embodiment of the disclosure; 
         FIG. 3  shows a method according to an embodiment of the disclosure; 
         FIG. 4  shows a method according to another embodiment of the disclosure; and 
         FIG. 5  illustrates a vehicle according to an embodiment of the disclosure. 
     
    
    
     DETAILED DESCRIPTION 
       FIG. 1  illustrates a driver assistance system (DAS)  100  for a vehicle according to an embodiment of the disclosure. The DAS  100  comprises one or more electrical controllers  110 . Each electrical controller may be operative to execute computer-readable instructions to, at least partly, perform a method according to an embodiment of the disclosure. The DAS  100  illustrated in  FIG. 1  comprises one controller  110  with it being appreciated that this is merely illustrative. 
     The controller  110  comprises in some embodiments one or more electronic processors  112 . The one or more processors  112  may operatively execute computer-readable instructions which may be stored in a storage device  114  which may be in the form of one or more memory devices  114 . The one or more memory devices  114  may store the computer readable instructions therein representing a method according to an embodiment of the disclosure as will be explained. The storage device  114  may also store digital map data which may be used by the processor  112  to determine a location of the vehicle with respect to geographical features identified in the map data. The geographical features may comprise navigable areas such as roads, car parks etc. It will be appreciated that in some embodiments the map data may be provided from a remote computing device and only temporarily stored in the storage device  114  such as in the form of map tiles relating to a geographic location of the vehicle and one or more surrounding areas. 
     The DAS  100  comprises a location determination means  120 . The location determination means  120  may be a location determining device  120  for providing a location signal  125  indicative of a geographic location of the vehicle. The location determination means  120  may be arranged to receive one or more wireless signals to determine the geographic location of the vehicle in dependence thereon. The wireless signals may be one or both of wireless communication signals, such as WiFi or signals from a cellular telecommunications network, and wireless navigation signals such as GPS, GLONASS or Galileo navigation signals. The location signal  125  is provided to an input means  116  of the controller  110 . The input means  116  may be an electrical input of the controller  110  for receiving an electrical signal representative of the geographic location of the vehicle. 
     The DAS  100  comprises an imaging means  130  in the form of an imaging system  130  for providing image data  135  to the DAS  100 , such as to an input means  118  of the controller  110 . The input means  118  may be an electrical input of the controller  110  for receiving an electrical signal representative of the image data  135 . The imaging system comprises one or more imaging devices for generating the image data  135  representative of an environment of the vehicle. Each imaging device may be, for example, a camera. 
     The imaging system  130  may comprise a plurality of different types of imaging device. In some embodiments, the imaging system  130  comprises a first imaging sub-system  132  and a second imaging sub-system  134 . Each sub-system  132 ,  134  may be arranged to provide image data relating to a specific region of the vehicle or image data from respective, different, types of imaging devices. In one embodiment the first imaging sub-system is a forward imaging system  132  of the vehicle. The forward imaging system  132  may comprise a stereoscopic imaging device for providing image data from which a range of an object may be determined, alternatively the range may be determined by a processor associated with one imaging device where the processor uses a plurality of frames of image data to determine the range of the object, such as from a change in viewing angle of the object in the plurality of frames. The second imaging sub-system  134  is a surround or partial-surround imaging system  134  for providing image data at least from around a portion of the vehicle or from a plurality of different viewpoints distributed around the vehicle. 
     An example second imaging system  134  is illustrated in  FIG. 2 .  FIG. 2  schematically illustrates a vehicle  200  in plan view. The vehicle comprises a plurality of imaging devices  132 ,  134 - 1 ,  134 - 2 ,  134 - 3 ,  134 - 4  distributed there-around. Whilst  FIG. 2  illustrates five imaging devices  132 ,  134 - 1 ,  134 - 2 ,  134 - 3 ,  134 - 4 , it will be appreciated that this is merely illustrative and that other numbers of imaging devices may be used. The imaging device  132  is a forward imaging device to view a forward region of the vehicle  200  as described above. Imaging devices  134 - 1 ,  134 - 2 ,  134 - 3 ,  134 - 4  are distributed around a periphery of the vehicle to provide surround image data of the vehicle  200 . 
     The controller  110  comprises an output means  119  for outputting an availability signal  140  indicative of an availability of a feature of the vehicle. The availability signal  140  may be indicative, in some embodiments, of the availability of a remotely accessible feature of the vehicle. The remotely accessible feature is a feature of the vehicle which is accessible i.e. can be activated and/or deactivated by a user remote from the vehicle, such as by operation of a remote device i.e. a portable or mobile device such as a handheld telecommunications device equipped with appropriate software, or a dedicated portable device with a capability of wirelessly communicating with the vehicle to access or control the remote feature. 
     The remotely accessible feature may allow a user to control one or both of an acceleration and a steering of the vehicle via the remote device. For example, the user may remotely control or remotely drive the device via the remote device. In the case that the user is able to remotely drive the vehicle it may be desirable for such a feature to only be available in particular circumstances, as will be explained. 
     The availability signal  140  may be provided to a controller or module of the vehicle responsible for the remotely accessible feature such that the feature is only available in dependence on the availability signal  140 . 
       FIG. 3  illustrates a method  300  according to an embodiment of the disclosure. The method  300  is a method of determining an availability of a feature of a vehicle, such as the vehicle  200 . The feature may be a remotely accessible of the vehicle  200 . The method  300  may be performed by a driver assistance system such as the system  100  illustrated in  FIGS. 1 and 2  and described above. For example, an embodiment of the method  300  may be represented by computer-readable instructions stored in the storage device  114  and performed by the processor  112  of the controller  110 . 
     The method  300  comprises a step  310  of receiving the location signal  125  providing location information or data  125  indicative of the location of the vehicle  200 . The location signal  125  may be received at the input  116  of the controller  110 . Step  310  may comprise the location determining device  120  receiving wireless signals and determining the geographic location of the vehicle in dependence thereon. For example, the location determining device  120  may receive GPS signals and decoding said signals to determine the geographic location of the vehicle  200  such as in the form of a longitude and latitude of the vehicle  200 . The location determining device  120  may also receive, for example, WiFi signals which may be used to determine the location of the vehicle in conjunction with data indicative of the identities and geographic locations of WiFi hotspots, with it being appreciated that signals of other communication protocols and communication technologies may be used. The location signal is output by the location determining device  120  to the controller  100 . 
     The method comprises a step  320  of receiving image data  135 . The image data  135  is provided by the imaging system  130  as described above. The image data  135  is received at the input  118  of the controller  110 . 
     The method comprises a step  330  of determining one or more visible characteristics in an environment of the vehicle  200 . The visible characteristics in the environment of the vehicle  200  may be determined in dependence on the image data  135  received from the one or more imaging devices  132 ,  134  associated with the vehicle  200 . 
     The visible characteristics may comprise roadway demarcation markings. By roadway demarcation markings it is meant features of a surface providing an indication to users of the roadway. By roadway it is meant any region intended to be used by vehicles including, but not restricted to, roads, car parks, and other vehicle-navigable areas. The roadway demarcation information may comprise lane demarcation markings indicative of one or more driving lanes of the roadway. The roadway demarcation markings may be linear markings at a side of a roadway or dividing adjacent lanes such as dividing lanes for driving in opposed or parallel directions. The one or more visible characteristics may comprise parking demarcation markings indicative of one or both of no parking areas or locations intended for vehicle parking. The demarcation markings for a no parking area may comprise, for example, hatching or striped markings indicating the areas not intended for vehicle parking. The parking demarcation markings indicative of vehicle parking may be markings indicative of parking bays for vehicles. 
     The visible characteristics may comprise roadway signage. By roadway signage it is meant signage intended to be visible to occupants of a vehicle to visually provide information to those occupants, such as a driver of the vehicle. The signage may provide information associated with a roadway, such as speed limit or other information, direction or navigation signs or signs providing other information to vehicle occupants. 
     Step  330  comprises the one or more visible characteristics in the environment of the vehicle  200  being identified which may be performed by the processor  120  executing one or more image recognition algorithms to detect the visible characteristics, such as surface markings e.g. lines, hatching etc, and signage in the image data  135  provided from the imaging system  130 . In some embodiments, the roadway signage may be interpreted, for example by comparing symbols against a library of symbols and determining a meaning of any text present on the sign. The interpretation allows the meaning of the sign to be utilized in determining the availability i.e. to determine whether the vehicle is in a public location or off-road 
     The method  300  comprises a step  340  of outputting the availability signal  140  indicative of the availability of the feature of the vehicle. The outputting of the availability signal may be performed in dependence on the one or more visible characteristics identified in step  340 . For example, the availability signal may be output in dependence on one or more of the determined geographic location of the vehicle  200 , and/or the presence of one or more of roadway demarcation markings, roadway signage and parking demarcation markings in the environment of the vehicle  200 . In some embodiments, the controller  110  is arranged to output the availability signal  140  in dependence of the location of the vehicle  200  not corresponding to a location intended for public vehicular navigation, such as a road, and the absence of one or more of roadway demarcation markings, roadway signage and parking demarcation markings in the environment of the vehicle  200 , these being indicative of the vehicle  200  being in a non-public or private location or a location where it is not intended for public to access, such as a driveway, field etc. Thus it can be appreciated that step  340  comprises a process of determining whether to output the availability signal  140 . The determination may be made in dependence on one or both of the geographic location of the vehicle and the visible characteristics of the environment of the vehicle  200 , as will be explained. 
       FIG. 4  illustrates a further method  400  according to an embodiment of the disclosure. The method  340  is another method of determining an availability of a feature of a vehicle, such as the vehicle  200 . The feature may be a remotely accessible of the vehicle  200 . The method  400  may be performed by a driver assistance system such as the system  100  illustrated in  FIGS. 1 and 2  and described above. For instance, an embodiment of the method  400  may be represented by computer-readable instructions stored in the storage device  114  and performed by the processor  112  of the controller  110 . 
     The method  400  may be performed as part of step  340  of the method  300  illustrated in  FIG. 3  and described above. For example, the method  400  performs the determination of whether to output the availability signal  140  according to some embodiments of the disclosure. 
     In step  410  of the method  400  the location of the vehicle  200  is compared against the digital map data to determine whether the location of the vehicle  200  corresponds to an off-road location. By off-road location, it is meant that the location of the vehicle does not correspond to on, or in some embodiments, within a predetermined distance of a location corresponding to a roadway, such as 5 m, 10 m or 25 m although other distances can be utilised. In some embodiments, the location of the vehicle  200  is compared against the map data to determine whether the location of vehicle does not correspond to, or is not within a predetermined distance of, a road associated with one or more predetermined road classifications. The one or more predetermined road classifications may correspond to those of public roads i.e. so that the vehicle may be present on a road having a classification associated with a private road or driveway. 
     It will be appreciated that it is not necessary for the vehicle to be on an unpaved or un-metalled surface to be considered off-road. Step  410  may also compare the location of the other vehicle against other types of location defined in the map data which correspond to publicly accessible locations, such as car parks etc. In some embodiments, although not illustrated in  FIG. 2 , the availability signal  140  may be output in dependence only on the location of the vehicle  200  being determined to be off-road. 
     In the illustrated embodiment, if the location of the vehicle  200  is determined in step  410  to correspond to an off-road location, then the method moves to step  420 . However if the location of the vehicle  200  is determined to correspond to a roadway or other publicly accessible area in step  410  the method may end i.e. the availability signal  140  is not output, such that the feature of the vehicle  200  Is not available. 
     In step  430  it is determined whether the vehicle is off-road in dependence on the one or more visible characteristics identified in step  340  of the method  300 . In some embodiments, it is determined in step  430  whether one or more of roadway demarcation markings, roadway signage and parking demarcation markings are present in the environment of the vehicle  200  using image data  135 . 
     In some embodiments of step  430  it is determined, in dependence on the image data, whether the environment of the vehicle  200  is absent of visual indications of the vehicle  200  being in a publicly accessible location. Said determination may be performed by the environment being absent two or more, or all of, roadway demarcation markings, roadway signage and parking demarcation markings. The absence of at least two and in some embodiments all three of these features provides increased confidence of the vehicle  200  being in a non-public location i.e. off-road. In some embodiments, the availability signal  140  may be output when it is determined that the environment of the vehicle  200  is absent of visual indications of the vehicle  200  being in a publicly accessible location. However, as illustrated in  FIG. 4 , the illustrated embodiment of the method  400  moves to step  440  where a further determination is made in dependence on one or more external conditions. 
     In step  440 , in some embodiments of the method  400 , it is determined whether the availability signal  140  is output in dependence on the one or more external conditions. The one or more external conditions comprise one or both of a condition of a surface on which the vehicle  200  is currently, or has recently in case the vehicle is stationary, driving. The one or more external conditions may relate to one or more of a level of grip and a level of undulation of the surface. The level of grip may be determined by a level of slippage (wheelspin) of one or more of the vehicle&#39;s wheels. In some embodiments, the vehicle  200  comprises a terrain response (TR) system which operatively determines a coefficient of grip of the surface and adapts one or more aspects of the vehicle&#39;s powertrain to the surface, such as a traction control system of the vehicle. If the surface is determined to be a low-grip surface i.e. having a coefficient of grip less than a predetermined level, then the availability signal  140  may be determined not to be available, thus inhibiting the remote feature. Similarly, the undulation of the surface may be determined with respect to a suspension system of the vehicle  200  i.e. measuring an axle articulation or amount of movement exhibited by the suspension system of the vehicle to provide an indication of the undulation of the surface. 
     In some embodiments, the one or more external conditions may include weather conditions. For example, the availability signal may only be determined to be available in step  440  if the vehicle  200  is subject to good weather. Good weather may include an absence of rain, ice (above a predetermined temperature) etc. If the determination is positive in step  440  i.e. that the availability signal is to be output, the method moves to step  450  where the availability signal  140  is output. 
     The availability signal  140  is output by the output means  119  of the controller  110 . The availability signal  140  may be output onto a communication bus of the vehicle  200  for receipt by other systems of the vehicle. In response to receiving a request from the user, such as via a remote device wirelessly communicating with the vehicle  200 , to access the remote feature when the availability signal  140  is indicative of the feature being available, the remote feature may be provided. The feature may allow the user to remotely drive the vehicle i.e. by controlling one or more of acceleration or movement of the vehicle and steering of the vehicle  200 . 
       FIG. 5  illustrates a vehicle  500  according to an embodiment of the disclosure. The vehicle  500  may comprise a system according to an embodiment of the disclosure, such as the system  100  illustrated in  FIG. 1 . The vehicle  500  may perform a method according to an embodiment of the disclosure such as illustrated in  FIGS. 1 and 2 . The vehicle  500  is a land-going wheeled vehicle  500  which may be powered by one or both of an internal combustion engine and one or more electric machines. 
     It can be appreciated that embodiments of the present disclosure determine an availability of a feature of a vehicle to only make the feature available in appropriate circumstances. 
     It will be appreciated that embodiments of the present disclosure can be realised in the form of hardware, software or a combination of hardware and software. Any such software may be stored in the form of volatile or non-volatile storage such as, for example, a storage device like a ROM, whether erasable or rewritable or not, or in the form of memory such as, for example, RAM, memory chips, device or integrated circuits or on an optically or magnetically readable medium such as, for example, a CD, DVD, magnetic disk or magnetic tape. It will be appreciated that the storage devices and storage media are embodiments of machine-readable storage that are suitable for storing a program or programs that, when executed, implement embodiments of the present disclosure. Accordingly, some embodiments provide a program comprising code for implementing a system or method as described herein and a machine readable storage storing such a program. Still further, embodiments of the present disclosure may be conveyed electronically via any medium such as a communication signal carried over a wired or wireless connection and embodiments suitably encompass the same. 
     All of the features disclosed in this specification, and/or all of the steps of any method or process so disclosed, may be combined in any combination, except combinations where at least some of such features and/or steps are mutually exclusive. 
     Each feature disclosed in this specification, may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. Thus, unless expressly stated otherwise, each feature disclosed is one example only of a generic series of equivalent or similar features. 
     The disclosure is not restricted to the details of any foregoing embodiments. The disclosure extends to any novel one, or any novel combination, of the features disclosed in this specification, or to any novel one, or any novel combination, of the steps of any method or process so disclosed. The claims should not be construed to cover merely the foregoing embodiments, but also any embodiments which fall within the scope of the claims.