TECHNICAL FIELD The present disclosure relates to an apparatus and method for vehicle parking. In particular, but not exclusively it relates to an apparatus and method for assisted vehicle parking.

Aspects of the invention relate to a vehicle parking assistance apparatus, an apparatus for an autonomous vehicle, a method for vehicle parking, a vehicle, a computer program and a non-transitory computer readable media.

BACKGROUND

Vehicle parking poses a number of potential problems for the vehicle driver. Not only can a considerable amount of time be spent by the vehicle driver searching for a suitable parking gap or space, but often it is difficult for the driver to judge whether the gap or space provided by the distance between existing parked vehicles or between a parked vehicle and another object is sufficient for the driver to manoeuvre the vehicle into. There is therefore a risk of collision between vehicles, or between the vehicle and an object, during the parking manoeuvre. There is also the potential for a driver to attempt a parking manoeuvre only to abandon the manoeuvre if the gap turns out to be too small to successfully park the vehicle into. The driving experience for the driver and potentially any passengers can therefore become unpleasantly stressful. Some vehicles provide for automated or automatic parking, where a vehicle can be manoeuvred into a parking space, which may comprise a gap between vehicles and/or other objects, without driver intervention.

It is an aim of the present invention to address disadvantages of the prior art. SUMMARY OF THE INVENTION

Aspects and embodiments of the invention provide a vehicle parking assistance apparatus, an apparatus for an autonomous vehicle, a method for vehicle parking, a vehicle, a computer program and a non-transitory computer readable media as claimed in the appended claims.

According to an aspect of the invention there is provided an apparatus comprising: receiving means arranged to receive vehicle data for one or more autonomous vehicles within a first range of a subject vehicle; processing means arranged to determine from the vehicle data, for each of the one or more autonomous vehicles, if there is a gap, between the autonomous vehicle and an object adjacent to the autonomous vehicle, equal to or greater than a minimum threshold; and if there is no gap determined to be equal to or greater than the minimum threshold, to instruct at least one of the one or more autonomous vehicles within the first range of the subject vehicle to move to provide a gap equal to or greater than the minimum threshold.

The threshold may be a subject vehicle parking gap.

According to an aspect of the invention there is provided an apparatus comprising: processing means arranged to determine, for one or more autonomous vehicles, if there is a gap, between the autonomous vehicle and an object adjacent to the autonomous vehicle, equal to or greater than a subject vehicle minimum parking gap; and if there is no gap determined to be equal to or greater than the subject vehicle minimum parking gap, to calculate instructions to be provided to at least one of the one or more autonomous vehicles to move the at least one of the one or more autonomous vehicles. The apparatus may be for a subject vehicle. Calculating instructions may comprise calculating a series of vehicle movements to be executed by the one or more autonomous vehicles. An autonomous vehicle movement may include forward and/or reverse movement of the autonomous vehicle.

According to an aspect of the invention there is provided a vehicle parking assistance apparatus comprising: receiving means arranged to receive vehicle data for one or more autonomous vehicles within a first range of a subject vehicle; processing means arranged to determine from the vehicle data, for each of the one or more autonomous vehicles, if there is a gap, between the autonomous vehicle and an object adjacent to the autonomous vehicle, equal to or greater than a subject vehicle minimum parking gap; and if there is no gap determined to be equal to or greater than the subject vehicle minimum parking gap, to instruct at least one of the one or more autonomous vehicles within the first range of the subject vehicle to move the at least one of the one or more autonomous vehicles.

This provides the advantage of providing for the movement of autonomous vehicles in range of the subject vehicle to create a gap or space for the subject vehicle to park in which satisfies the minimum parking gap, or distance requirement, of the subject vehicle, and therefore reduces the time spent searching or waiting for a suitable parking gap or space, thus increasing the efficiency of operation of the subject vehicle. Aspects of the invention may therefore reduce fuel or energy usage of the vehicle. These advantages may improve the user's driving experience. The subject vehicle may be an autonomous vehicle.

The term adjacent is intended to at least encompass the terms next to, proximate to, in front of, behind, and by the side of. If there is no gap determined to be equal to or greater than the subject vehicle minimum parking gap, then the processing means may be arranged to determine if the one or more autonomous vehicles can be moved to create a gap equal to or greater than the subject vehicle minimum parking gap. This provides the advantage of creating a gap large enough for the subject vehicle to be parked in. The subject vehicle may then be parked either manually by the driver, or automatically in a self-park arrangement. It will be appreciated that in some examples, the driver of the vehicle may have exited the vehicle and therefore no longer be in control of the vehicle when the parking manoeuvre takes place.

The processing means may be arranged to calculate a sequence of instructions to be provided to at least one of the one or more autonomous vehicles to move the at least one of the one or more autonomous vehicles to create a gap equal to or greater than the subject vehicle minimum parking gap. This provides the advantage of controlling or allowing control of the movement of autonomous vehicles in the most efficient manner to create a gap equal to or greater than the subject vehicle minimum parking gap.

In some examples, control of the movement of only one autonomous vehicle may be required. In other examples, multiple autonomous vehicle movements may be required. Multiple autonomous vehicle movements may be carried out in series, i.e., one autonomous vehicle moved at a time, or in parallel, i.e., multiple autonomous vehicles moved at the same time.

The vehicle parking assistance apparatus may comprise transmitting means arranged to transmit the sequence of instructions to the one or more autonomous vehicles. The transmitting means may be a transmitter. The transmitting means may operate using electromagnetic radiation such as radio frequencies. The transmitting means may be a transceiver. The transmitting means may be a radio frequency transceiver. The transmitting means may be provided on the subject vehicle, or alternatively on or at a server, to transmit the sequence of instructions to the one or more autonomous vehicles within the first range of the subject vehicle.

The subject vehicle minimum parking gap may be stored in a storage means local to or remote from the subject vehicle. The storage means may be a storage means of the subject vehicle or a storage means at a server. The storage means may be a memory, such as a solid state memory or magnetic storage device.

The vehicle data may comprise a position of each of the one or more autonomous vehicles. The position of each of the one or more autonomous vehicles may be determined from global positioning system (GPS) data or via another vehicle positioning system. This has the advantage of allowing processing of the position of one or more autonomous vehicles such that repositioning of one or more autonomous vehicles can be carried out to create a gap or space for the subject vehicle to park in. The vehicle data may comprise, for each of the one or more autonomous vehicles, a first gap, between the autonomous vehicle and an object adjacent to the autonomous vehicle, in a first direction and a second gap, between the autonomous vehicle and an object adjacent to the autonomous vehicle, in a second direction, different to the first direction.

This has the advantage of providing multi directional gap detection to facilitate the calculation of an optimal, or the most economical, rearrangement of the autonomous vehicles. By detecting gaps between the autonomous vehicle and objects in different directions, the autonomous vehicle can be moved in a plurality of directions, for example forwards and backwards, or rearwards, directions.

The first gap, between the autonomous vehicle and an object adjacent to the autonomous vehicle, in the first direction and the second gap, between the autonomous vehicle and an object adjacent to the autonomous vehicle, in the second direction may be determined using sensors. Such sensors may be distance measuring or proximity sensors. The sensors may be positioned to sense objects in one or both of the first and second directions. A first sensor may be positioned at the front of the autonomous vehicle and a second sensor may be positioned at the rear of the vehicle. The sensors may comprise one or more of time of flight sensors, parking sensors, radar, lidar, and cameras. Alternatively, or additionally, the first gap and second gap may be calculated using GPS data from a GPS transceiver.

Since many vehicles are equipped with one or more of parking sensors, radar and cameras, this apparatus may provide the advantage of using sensors which may already exist on the autonomous vehicle, to determine the gap between the autonomous vehicle and adjacent objects, thus optimizing the utilization of such sensors and/or reducing the requirement of additional sensors for the autonomous vehicle.

The first direction may be a direction forward of, or in front of, the autonomous vehicle and the second direction may be a direction rearward of, or behind, the autonomous vehicle. The first direction and the second direction may be opposite or substantially opposite directions to each other.

This has the advantage of providing multi-directional gap detection. The receiving means may be arranged to receive vehicle data, for the one or more autonomous vehicles within the first range of the subject vehicle, in dependence on a user selection of a parking assistance mode. This has the advantage of preventing erroneous reporting of parking gap indications from, or erroneous self-park manoeuvres by, the subject vehicle.

The receiving means may be arranged to receive vehicle data, for one or more autonomous vehicles within the first range of the subject vehicle, in dependence on a user selection of a parking assistance mode, and in dependence on a secondary criterion. The secondary criterion may be that the autonomous vehicles are on the same side of the road as the subject vehicle.

This has the advantage of providing the most convenient parking gap for the subject vehicle to park in, potentially reducing dangers associated with crossing traffic lanes to park on the other side of the road.

The vehicle parking assistance apparatus may comprise transmitting means arranged to transmit a first signal to request the vehicle data relating to the one or more autonomous vehicles within the first range of the subject vehicle. The transmitting means may be a wireless transmitter or transceiver. In some examples, a transceiver may perform the function of both the receiving means and the transmitting means. The first signal may be a vehicle interrogation signal. The interrogation signal may be of a format recognizable by the autonomous vehicles for interrogation of the autonomous vehicles' sensor data.

The vehicle parking assistance apparatus may comprise transmitting means arranged to transmit a first signal to request the vehicle data relating to the one or more autonomous vehicles at a specific location, or within a range of a specific location. This provides the advantage of allowing determination and/or creation of a gap for the subject vehicle at a specific location remote from the present location of the subject vehicle, for example, in a known car park some distance away. The first signal may comprise authentication data for authenticating the vehicle parking assistance apparatus. The authentication data may provide establishment of a secure communication between the vehicle parking assistance apparatus and the one or more autonomous vehicles. It will be appreciated that various authentication methods may be provided to establish secure communication between the vehicle parking assistance apparatus and the one or more autonomous vehicles. The authentication may be provided using key encryption, digital certificates or other authentication protocols.

This provides the advantage of maintaining security of the autonomous vehicles, preventing unauthorized movement of an autonomous vehicle.

In addition, the first signal or a subsequent signal may comprise authorization data to authorize the vehicle parking assistance apparatus to move the one or more autonomous vehicles. It will be appreciated that various authorization methods may be provided to allow movement of autonomous vehicles.

In some examples, the vehicle parking assistance apparatus may be comprised in the subject vehicle, and may be arranged to transmit the first signal, to the one or more autonomous vehicles within the first range of the subject vehicle. It will be appreciated that such arrangements provide vehicle to vehicle communication. In other examples, the apparatus may be comprised in a server, and may be arranged to transmit the first signal, to the one or more autonomous vehicles within the first range of the subject vehicle. It will be appreciated that such arrangements provide vehicle to server or cloud infrastructure communication.

The position of the subject vehicle may be provided by or calculated from GPS data or another vehicle positioning system.

The first range may comprise a first distance from the subject vehicle. The first distance may be a distance forward of the subject vehicle. The first range may comprise a second distance from the subject vehicle. The second distance may be a distance rearward of the subject vehicle. The magnitude of the second distance may be different from the magnitude of the first distance. This provides the advantage of being able to optimise the gap creation to suit the driver, for example, by allowing a gap to be created further ahead of the vehicle than behind the vehicle. It will be appreciated that the first distance and second distance may alternatively be provided in relation to a different aspect of the vehicle, such as side aspects of the vehicle, which may be relevant when parking vehicles in a side by side arrangement. In such alternative arrangements the subject vehicle minimum parking gap is provided in relation to the width of the vehicle with consideration of additional distance to other objects required to open doors of the vehicle.

If it is determined that there is a gap, between the autonomous vehicle and an object adjacent to the autonomous vehicle, equal to or greater than a subject vehicle minimum parking gap, then an indication of the position of the gap may be provided, via user output means, to the driver of the subject vehicle.

This provides the advantage of alerting the driver as to the availability and/or position of a suitable gap, which may be especially advantageous if the subject vehicle is an autonomous vehicle arranged to self-park, where the vehicle is arranged to manoeuvre into the gap without user intervention, such that the driver is not then surprised by any automated vehicle movement.

The sequence of instructions to move the at least one of the one or more autonomous vehicles may create a gap forward of the subject vehicle in preference to creation of a gap rearward of the subject vehicle.

This provides the advantage of instructing the subject vehicle or driver of the subject vehicle, to perform a parking manoeuvre in a gap forward of the subject vehicle, in preference to performing a parking manoeuvre in a gap rearward of the subject vehicle, reducing or restricting rearward or reversing movement of the subject vehicle potentially against a flow of traffic. This then provides the advantage of increasing safety of a parking manoeuvre.

If there is no gap determined to be equal to or greater than the subject vehicle minimum parking gap, and no gap equal to or greater than the subject vehicle minimum parking gap can be created by moving the autonomous vehicles within the first range of the subject vehicle, then the receiving means may be arranged to receive vehicle data for one or more autonomous vehicles within a second range of the subject vehicle, greater than the first range; the processing means may be arranged to determine from the vehicle data, for each of the one or more autonomous vehicles, if there is a gap, between the autonomous vehicle and an object adjacent to the autonomous vehicle, equal to or greater than a subject vehicle minimum parking gap; and if there is no gap determined to be equal to or greater than the subject vehicle minimum parking gap, calculate instructions to be provided to at least one of the one or more autonomous vehicles within the second range of the subject vehicle to move the at least one of the one or more autonomous vehicles.

This provides the advantage of providing an extendible or extended range for determining one or more potential autonomous vehicle manoeuvre which will create a gap for the subject vehicle to park in, should there be no determined or calculated gap available within a first range. The first range may be considered to be a close range and the second range may be considered to be a medium range. This increases the probability or possibility that a gap may be found or created for the subject vehicle to be parked within. It will be appreciated that a third range may be provided should no suitable gap be available or creatable in the first or second ranges. The third range may be considered to be a long range. This may further increase the probability or possibility that a gap may be found or created for the subject vehicle to be parked within. It will be appreciated that further intervening or additional ranges may be provided, such that the distance from the subject vehicle to which a gap may be detected or created may be incrementally extended until a gap can be detected or created.

The processing means may be arranged or configured to generate a signal indicative that a gap equal to or greater than the subject vehicle minimum parking gap has been created. The signal may comprise data which can be provided to the driver of the subject vehicle via a user interface. The data may provide a visual indication of the creation of a gap equal to or greater than the subject vehicle minimum parking gap. The signal may be an audible signal to be provided to the driver of the subject vehicle.

The processing means may generate the signal indicative that a gap equal to or greater than the subject vehicle minimum parking gap following receipt of vehicle data indicating that there is a gap equal to or greater than the subject vehicle minimum parking gap.

The apparatus may have a first mode of operation. The apparatus may have a second mode of operation. The apparatus may have the first mode of operation and the second mode of operation. The apparatus may be operable in at least one of the first mode of operation and the second mode of operation.

The first mode of operation may provide for the creation of a gap equal to or greater than the subject vehicle minimum parking gap in the shortest possible time period. The first mode may minimise the time period for creating the gap equal to or greater than the subject vehicle minimum parking gap by minimizing the number of movements of parked autonomous vehicles. This provides the advantage of creating a suitable gap for the subject vehicle without undue delay. The apparatus may generate a signal indicative of the location of the gap that has been created. Since, in the first mode, the parameter to be minimised is the time period for creating the subject vehicle minimum parking gap, the location of the created gap may be at any location within the first range, and the signal indicative of the location of the gap provides information to the driver to move the vehicle to the created gap. If the subject vehicle is an autonomous vehicle the subject vehicle may automatically travel to and park in the created gap.

The second mode of operation may provide for the creation of a gap equal to or greater than the subject vehicle minimum parking gap at a location proximal to or substantially proximal to the subject vehicle. The second mode may create a gap within, for example, 10 metres, 5 metres, or some other close range of the subject vehicle. This provides the advantage of creating a suitable gap for the subject vehicle without the need to move the subject vehicle a significant distance from its current position. This may be advantageous if the driver of the vehicle needs to be parked in a specific location, for, for example, loading and unloading of the vehicle.

The subject vehicle minimum parking gap may be increased when the subject vehicle is connected to a trailer, caravan or another towed object. The apparatus may obtain indication from a towing connection that another object is connected to the subject vehicle. In some examples the towing connection or the processing means may be able to identify the towed object and provide suitable modification of the subject vehicle minimum parking gap. In some examples the user of the subject vehicle may manually adjust the subject vehicle minimum parking gap to account for the towed object. The receiving means may be a wireless receiver or transceiver. The receiving means may operate at radio frequencies. The processing means may be an electronic processor such as a vehicle electronic control unit (ECU). The processing means may control operation of one or more other components, such as the receiving means.

According to an aspect of the invention there is provided an apparatus comprising: signal receiving means arranged to receive a first signal; first sensing means arranged to determine an autonomous vehicle position; second sensing means arranged to determine a gap between the autonomous vehicle and an object adjacent to the autonomous vehicle; and signal transmitting means arranged to transmit the autonomous vehicle position and gap between the autonomous vehicle and an object adjacent to the autonomous vehicle. The apparatus may be for an autonomous vehicle.

This provides the advantage of allowing determination of whether the autonomous vehicle can be moved to optimize parking of the autonomous vehicle.

According to an aspect of the invention there is provided an apparatus for an autonomous vehicle comprising: signal receiving means arranged to receive a first signal; first sensing means arranged to determine the autonomous vehicle position in response to receipt of the first signal; second sensing means arranged to determine a gap between the autonomous vehicle and an object adjacent to the autonomous vehicle in response to receipt of the first signal; and signal transmitting means arranged to transmit the autonomous vehicle position and gap between the autonomous vehicle and an object adjacent to the autonomous vehicle, to a receiving means arranged to receive vehicle data for the autonomous vehicle when within a first range of a subject vehicle.

This provides the advantage of allowing determination of whether the autonomous vehicle can be moved to optimize parking of the autonomous vehicle and/or optimizing the parking of the autonomous vehicle to maximize the number of vehicles that can be parked within a certain area. Optimized parking of the autonomous vehicle may allow for parking of additional vehicles through creation of parking gaps or spaces.

The first sensing means may be arranged to determine an autonomous vehicle position in response to the receipt of the first signal at the receiving means. The second sensing means may be arranged to determine a gap between the autonomous vehicle and an object adjacent to the autonomous vehicle in response to receipt of the first signal at the signal receiving means. The signal receiving means may be a wireless signal receiver. The signal receiving means may be an electromagnetic radiation receiver and may operate at radio frequencies. The signal receiving means may be, or be part of, a transceiver. The signal receiving means may be a radio frequency transceiver. The signal transmitting means may be a wireless signal transmitter. The signal transmitting means may be an electromagnetic radiation transmitter and may operate at radio frequencies. The signal transmitting means may be, or be part of, a transceiver. The signal transmitting means may be a radio frequency transceiver. The signal transmitting means and the signal receiving means may be separate or part of the same transceiver or radio frequency transceiver.

The first sensing means may be a vehicle position sensor. The vehicle position sensor may be a GPS transceiver or other system capable of sensing or determining or providing a vehicle position or vehicle position data. The vehicle position sensor may use location specific mapping and an optical sensor to determine vehicle position. The optical sensor may be able to identify waypoints, road signs, landmarks and other identifiable objects.

The second sensing means may be one or more sensors. The one or more sensors may be proximity sensors or distance measuring sensors. The one or more sensors may comprise one or more of parking sensors, time of flight sensors, radar, lidar, cameras or a combination thereof. Such sensors may detect a distance between the autonomous vehicle and another object. Alternatively, or in addition, the vehicle position sensor may be used to calculate the distance between the autonomous vehicle and an adjacent object, in particular another autonomous vehicle equipped with a vehicle position sensor.

The first signal may be transmitted by, or received from, a subject vehicle, in vehicle to vehicle communication, or transmitted by or via, or received from or via, a server in a network system or through a cloud based infrastructure. Instructions may be received via a server, after being generated by a subject vehicle, or alternatively the instructions may be generated at or by the server from data received from the subject vehicle, and/or from autonomous vehicles. The apparatus may comprise instruction receiving means arranged to receive instructions to move the autonomous vehicle. The instruction receiving means may be, be part of, or be operably connected to, the signal receiving means. The instruction receiving means may be a wireless signal receiver. The instruction receiving means may be an electromagnetic radiation receiver and may operate at radio frequencies. The instruction receiving means may be, or be part of, a transceiver. The instruction receiving means may be a radio frequency transceiver.

The instruction receiving means may be separate to or part of the same transceiver or radio frequency transceiver of the signal transmitting means and/or the signal receiving means.

Movement of the autonomous vehicle in accordance with received instructions may be restricted by the determination of a gap between the autonomous vehicle and an object adjacent to the autonomous vehicle during movement of the autonomous vehicle, to maintain at least a minimum gap between the autonomous vehicle and an object adjacent to the autonomous vehicle during movement of the autonomous vehicle.

According to an aspect of the invention there is provided a method comprising: determining from vehicle data, for one or more autonomous vehicles within a first range of a subject vehicle, if there is a gap, between the autonomous vehicle and an object adjacent to the autonomous vehicle, equal to or greater than a subject vehicle minimum parking gap; if there is no gap determined to be equal to or greater than the subject vehicle minimum parking gap, instructing at least one of the one or more autonomous vehicles within the first range of the subject vehicle to move the at least one of the one or more autonomous vehicles. According to an aspect of the invention there is provided a method for vehicle parking comprising: receiving vehicle data for one or more autonomous vehicles within a first range of a subject vehicle; determining from the vehicle data, for each of the one or more autonomous vehicles, if there is a gap, between the autonomous vehicle and an object adjacent to the autonomous vehicle, equal to or greater than a subject vehicle minimum parking gap; if there is no gap determined to be equal to or greater than the subject vehicle minimum parking gap, instructing at least one of the one or more autonomous vehicles within the first range of the subject vehicle to move to provide a gap equal to or greater than a subject vehicle minimum parking gap.

According to an aspect of the invention there is provided a vehicle comprising the apparatus described in any of the preceding paragraphs. The vehicle may comprise the apparatus for an autonomous vehicle and a vehicle parking assistance apparatus. According to an aspect of the invention there is provided a computer program comprising instructions that, when executed by one or more processors, cause a system to perform, at least: determining from vehicle data, for one or more autonomous vehicles within a first range of a subject vehicle, if there is a gap, between the autonomous vehicle and an object adjacent to the autonomous vehicle, equal to or greater than a subject vehicle minimum parking gap; if there is no gap determined to be equal to or greater than the subject vehicle minimum parking gap, instructing at least one of the one or more autonomous vehicles within the first range of the subject vehicle to move the at least one of the one or more autonomous vehicles. According to an aspect of the invention there is provided a computer program comprising instructions that, when executed by one or more processors, cause a system to perform, at least: receiving vehicle data for one or more autonomous vehicles within a first range of a subject vehicle; determining from the vehicle data, for each of the one or more autonomous vehicles, if there is a gap, between the autonomous vehicle and an object adjacent to the autonomous vehicle, equal to or greater than a subject vehicle minimum parking gap; if there is no gap determined to be equal to or greater than the subject vehicle minimum parking gap, instructing at least one of the one or more autonomous vehicles within the first range of the subject vehicle to move to provide a gap equal to or greater than a subject vehicle minimum parking gap.

According to an aspect of the invention there is provided a computer program comprising instructions that, when executed by one or more processors, cause a system to perform, at least, a method as described in any of the preceding paragraphs. According to an aspect of the invention there is provided a non-transitory computer readable media comprising a computer program as described in any of the preceding paragraphs.

According to an aspect of the invention there is provided an apparatus comprising: processing means arranged to determine, for one or more autonomous vehicles, if there is a gap, between the autonomous vehicle and an object adjacent to the autonomous vehicle, equal to or greater than a subject vehicle minimum parking gap; and if there is no gap determined to be equal to or greater than the subject vehicle minimum parking gap, to provide instructions to at least one of the one or more autonomous vehicles to move the at least one of the one or more autonomous vehicles.

According to an aspect of the invention there is provided a vehicle parking assistance apparatus comprising: a wireless receiver arranged to receive vehicle data for one or more autonomous vehicles within a first range of a subject vehicle; an electronic processor arranged to determine from the vehicle data, for each of the one or more autonomous vehicles, if there is a gap, between the autonomous vehicle and an object adjacent to the autonomous vehicle, equal to or greater than a subject vehicle minimum parking gap; and if there is no gap determined to be equal to or greater than the subject vehicle minimum parking gap, to calculate instructions to be provided to at least one of the one or more autonomous vehicles within the first range of the subject vehicle to move the at least one of the one or more autonomous vehicles.

The apparatus may be for wireless vehicle to vehicle communications. The apparatus may be for network or cloud based vehicle communication.

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. BRIEF DESCRIPTION OF THE DRAWINGS

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

Fig. 1 illustrates an example of a parking arrangement;

Fig. 2 illustrates an example of a vehicle parking assistance apparatus;

Fig. 3a illustrates an example of a vehicle;

Fig. 3b illustrates an example of a server;

Figs. 4 to 6 illustrate an example of a parking manoeuvre;

Fig. 7 illustrates an example of an autonomous vehicle;

Fig. 8 illustrates an example of a parking arrangement;

Fig. 9a illustrates an example method for vehicle parking;

Fig. 9b illustrates an example method for vehicle parking;

Fig. 10 illustrates an example controller.

DETAILED DESCRIPTION Examples of the present disclosure relate to assisted vehicle parking. Some examples of the disclosure relate to assisted vehicle parking within an autonomous vehicle system.

The figures illustrate a vehicle parking assistance apparatus 40 comprising: receiving means 42 arranged to receive vehicle data for each of one or more autonomous vehicles 12, 14, 16, 18 within a first range of a subject vehicle 10; and processing means 44 arranged to determine from the vehicle data, for each of the one or more autonomous vehicles 12, 14, 16, 18, if there is a gap, between the autonomous vehicle and an object adjacent to the autonomous vehicle, equal to or greater than a subject vehicle minimum parking gap 1 1 ; and if there is no gap determined to be equal to or greater than the subject vehicle minimum parking gap 1 1 , to calculate instructions to be provided to at least one of the one or more autonomous vehicles 12, 14, 16, 18 within the first range of the subject vehicle 10 to move the at least one of the one or more autonomous vehicles 12, 14, 16, 18. The position of the subject vehicle 10 is provided by or calculated from GPS data or another vehicle positioning system.

The first range comprises a first distance from the subject vehicle 10. In one embodiment of the invention, the first range is a radius measured from the subject vehicle 10 or a point on the subject vehicle 10, such that the first distance may be in any direction. In another embodiment of the invention, the first range is a linear distance, along a road or a lane of a car park, from the subject vehicle 10, such that the first distance may be in any one direction. In an example, the first distance may be a distance forward of the subject vehicle 10.

The direction of travel of the subject vehicle 10, or the direction or heading of the subject vehicle 10 if stationary, may be determined such that forward and rearward directions can be defined relative to the subject vehicle 10. The forward direction can be defined as being a direction outwards from the front of the subject vehicle 10 and a rearward direction can be defined as being a direction outwards from the rear of the subject vehicle 10. The forward direction and rearward direction may be along an axis bisecting the subject vehicle 10 from the front of the subject vehicle 10 to the rear of the subject vehicle 10. The axis may be central to the subject vehicle 10. In an embodiment of the invention, the first range may comprise a second distance from the subject vehicle 10. The second distance may be a distance rearward of the subject vehicle 10, and may be a linear distance, along a road or a lane of a car park, from the subject vehicle 10, such that the second distance may be in any one direction. The second distance may be in a direction opposite to the direction of the first distance.

In some examples, the magnitude of the second distance may be different from the magnitude of the first distance.

In one embodiment of the invention, the first range comprises a linear first distance from the subject vehicle 10 forward of the subject vehicle 10 and the second distance comprises a linear second distance from the subject vehicle 10 rearward of the subject vehicle 10, where the magnitude of the first distance is greater than the magnitude of the second distance. In one example, the first distance may be fifty metres forwards of the subject vehicle 10 and the second distance may be ten metres rearwards of the subject vehicle 10. In another example, the first distance may be the same as the second distance, for example fifty metres.

In some examples the receiving means 42 is a wireless receiver and the processing means 44 is an electronic processor. The electronic processor may be, or may be comprised in or as part of, a vehicle electronic control unit (ECU), or a separate electronic processor or controller comprised in a vehicle parking assistance module or as part of a vehicle parking assistance system, which may be local to or remote from the subject vehicle 10.

The vehicle parking assistance apparatus 40 may be comprised in the subject vehicle 10 or in a server 60, which may be remote from the subject vehicle 10. The vehicle parking assistance apparatus 40 may be arranged to transmit a first signal 13, to the one or more autonomous vehicles 12, 14, 16, 18 within the first range of the subject vehicle 10.

The server 60 could be part of a cloud based computing system. The server 60 could be a vehicle manufacturer server, or a server comprised in an intelligent transportation system. A technical effect of at least some examples of the disclosure is that upon receiving a request for parking assistance, the processing means 44 can provide instructions to reconfigure the arrangement of parked autonomous vehicles 12, 14, 16, 18 such that a subject vehicle 10 may be parked, thus increasing the efficiency of operation of the subject vehicle 10, potentially reducing fuel or energy usage of the subject vehicle 10. The reconfiguration of the arrangement of parked autonomous vehicles 12, 14, 16, 18 may be considered to be a defragmentation of parked autonomous vehicles 12, 14, 16, 18.

In some examples, the processing means 44, in the form of an electronic processor, may be operable at the subject vehicle 10 to calculate instructions to be provided to autonomous vehicles 12, 14, 16, 18 in the vicinity of the subject vehicle 10, thus providing vehicle to vehicle communication. Communication between vehicles can be provided by vehicle to vehicle communication which may be direct, such as via dedicated short range communications, Bluetooth, or similar protocol. Communication between vehicles can be provided by vehicle to vehicle communication which may be indirect via a cloud computing arrangement or one or more dedicated vehicle communication servers 60.

Dedicated short range communications may form part of an intelligent transportation system, and may for example be provided in the 5.9 GHz band. Alternatively the 5.8 GHz band or any other short or medium range communication band may be used.

Communication to the cloud computing arrangement or server, such as a dedicated vehicle communication server, may be by any wireless protocol, including cellular data services such as Global System for Mobile Communications (GSM), General Packet Radio Service (GPRS), Enhanced GPRS, or similar cellular communications, or by satellite communication, or by a wireless local area network, such as a IEEE 802.1 1 network, commonly called a WiFi network, or a combination of different protocols. The use of a particular communications protocol may depend on available bandwidth for specific communication protocols.

In various examples, the object adjacent to the one of the one or more autonomous vehicles 12, 14, 16, 18 may be another one of the one or more autonomous vehicles 12, 14, 16, 18, another autonomous vehicle outside of the first range of the subject vehicle 10, or another object such as a wall, bollard or other stationary, fixed or immovable object, which in some examples could be a non-autonomous vehicle.

Fig. 1 illustrates an arrangement of parked autonomous vehicles 12, 14, 16 18 positioned in a parking area 20, and a subject vehicle 10 positioned in a traffic lane 22. In Fig. 1 the parked vehicles are separated from other objects, including other parked vehicles and stationary objects by gaps, or spaces. A first vehicle 12 is separated from a first structure 34 by a first gap 24 and separated from a second vehicle 14 by a second gap 26. The second vehicle 14 is separated from the first vehicle 12 by the second gap 26 and separated from a third vehicle 16 by a third gap 28. The third vehicle 16 is separated from the second vehicle 14 by the third gap 28 and separated from a fourth vehicle 18 by a fourth gap 30. The fourth vehicle 18 is separated from the third vehicle 16 by the fourth gap 30 and separated from a second structure 36 by a fifth gap 32. It is to be appreciated that the arrangement of vehicles in Fig. 1 is illustrated as an example and that embodiments of the invention may be applicable to other arrangements of vehicles.

In the example of Fig. 1 , although there are gaps 24, 26, 28, 30 and 32 between the vehicles and structures 34 and 36, none of the gaps are large enough to accommodate the subject vehicle 10. The subject vehicle 10 has a minimum parking gap 1 1 which is required in order for the subject vehicle 10 to be able to park in the gap. The subject vehicle minimum parking gap 1 1 is larger than the physical length of the subject vehicle 10 to allow for maneuvering of the subject vehicle 10 into the parking space or gap.

The subject vehicle minimum parking gap 1 1 or requirement may be stored in a storage means of the subject vehicle 10 or in a storage means at a server 60. The storage means may be for example a memory. The storage means may be separate from or be part of other storage means of the subject vehicle 10 or server 60.

The subject vehicle minimum parking gap 1 1 may be a requirement of a specific subject vehicle 10 and/or a subject vehicle user. The subject vehicle minimum parking gap 1 1 may be a fixed distance for the vehicle type or may additionally or alternatively be input by a user to allow for larger distance requirements of the user, for example if there is a requirement for disabled access. A minimum parking gap may be based on the subject vehicle capability, which may comprise a value of the subject vehicle turning circle. The subject vehicle minimum parking gap 1 1 may be stored as a fixed value in the memory, or as a variable value in the memory, which may be adjusted by a user. For example, the user may be able to modify or adjust the subject vehicle minimum parking gap 1 1 between 100% and 150% of a minimum subject vehicle parking gap required to physically park the subject vehicle 10. Such values may be stored for each user of the subject vehicle 10 along with any other personalized subject vehicle settings.

In order for the subject vehicle 10 to be able to park in parking area 20, it is necessary for one or more of the vehicles 12, 14, 16 and 18 to move. In the arrangement of Fig. 1 , at least the third vehicle 16 is an autonomous vehicle capable of receiving instructions to autonomously move. In other examples, other ones of the one or more vehicles 12, 14 and 18 are autonomous vehicles capable of receiving instructions to autonomously move. Fig. 2 illustrates a vehicle parking assistance apparatus 40 which in one example, as shown in Fig. 3a, is located in a subject vehicle 10. In another example, as shown in Fig. 3b, the vehicle parking assistance apparatus 40 is located in or at a server 60. The vehicle parking assistance apparatus 40 illustrated in Fig. 2 comprises a receiving means 42 arranged to receive vehicle data for at least one autonomous vehicle 16 within a first range of the subject vehicle 10. The vehicle parking assistance apparatus 40 comprises processing means 44 arranged to determine from the vehicle data, for the autonomous vehicle 16, if there is a gap, between the autonomous vehicle 16 and an object, such as other vehicles 14, 18, adjacent to the autonomous vehicle 16 equal to or greater than the subject vehicle minimum parking gap 1 1 .

In other examples, the vehicle parking assistance apparatus 40 is located in a server 60 which may be remote from the subject vehicle 10 but which may be in communication with the subject vehicle 10. The server 60 may receive signals and/or data from the subject vehicle 10 and/or autonomous vehicles 12, 14, 16, 18. The server 60 may transmit instructions to autonomous vehicles 12, 14, 16, 18.

The vehicle data for each autonomous vehicle 12, 14, 16, 18 comprises a position of that autonomous vehicle 12, 14, 16, 18.

The position of each of the one or more autonomous vehicles 12, 14, 16, 18 is determined from GPS data or via another vehicle positioning system or method.

The position of some autonomous vehicles 12, 14, 16, 18 may be determined by reference to GPS coordinate data. The position of some autonomous vehicles 12, 14, 16, 18 may be determined by another vehicle positioning system or method.

The vehicle data comprises, for each of the one or more autonomous vehicles 12, 14, 16, 18 a first gap and a second gap to respective objects. Considering an autonomous vehicle 16 in the arrangement of Fig. 1 , the vehicle data comprises a first gap between the autonomous vehicle 16 and an object 18 adjacent to the autonomous vehicle 16 in a first direction and a second gap between the autonomous vehicle 16 and an object 14 adjacent to the autonomous vehicle 16 in a second direction, different to the first direction. The first object 18 adjacent to the autonomous vehicle 16 in the first direction may be another autonomous vehicle 18. The second object 14 adjacent to the autonomous vehicle 16 in the second direction may be another autonomous vehicle 14.

The first gap between the autonomous vehicle 16 and an object 18 adjacent to the autonomous vehicle 16 in the first direction and the second gap between the autonomous vehicle 16 and an object 14 adjacent to the autonomous vehicle 16 in the second direction are determined using distance measuring or proximity sensors 54, which may include one or more of time of flight sensors, parking sensors, radar, lidar, and cameras. Alternatively, or in addition, GPS data from a GPS system 52 may be used to determine a gap between an autonomous vehicle 16 and another object, in particular, another autonomous vehicle 12, 14, 16, 18. It will be appreciated that some GPS system data may not provide the accuracy or resolution of the aforementioned distance measuring or proximity sensors 54, and may be used only if data from such distance measuring or proximity sensors 54 is unavailable. However, some GPS systems may provide data accurate enough to estimate gaps between vehicles by using the GPS transceiver location on the vehicle and information regarding the length and/or width of the vehicle.

The first direction is a direction forward of the autonomous vehicle 16 and the second direction is a direction rearward of the autonomous vehicle 16.

A direction forward, or in front of, the subject vehicle 10, may be defined by the direction of travel of the subject vehicle 10, calculated via GPS coordinates, and/or sensors on the subject vehicle 10. If the subject vehicle 10 is stationary, then the forward direction may be defined by the last known heading of the subject vehicle 10 such as the heading previously calculated via GPS coordinates, and/or by sensors on the subject vehicle 10.

In the example of Fig. 1 , there is no gap between the autonomous vehicle 16 and the adjacent vehicles 14, 18, which is equal to or greater than the subject vehicle minimum parking gap 1 1 . If there is no gap which is determined to be equal to or greater than the subject vehicle minimum parking gap 1 1 , the processing means 44 is arranged to calculate instructions to be provided to the autonomous vehicle 16 to move the autonomous vehicle 16 in order to create a suitable gap. Such instructions may be provided to the autonomous vehicle 16 only if the processing means 44 determines that the autonomous vehicle 16 can be moved to create a gap equal to or greater than the subject vehicle minimum parking gap 1 1 .

The operation of a non-limiting example of the invention will now be described with respect to Figs. 4, 5 and 6.

The movement of the autonomous vehicle 16 is illustrated in Figs. 4, 5 and 6, which illustrate a vehicle to vehicle communication arrangement. In Fig. 4 the subject vehicle 10 transmits, via a wireless transmitter, a first signal 13 to request vehicle data relating to the autonomous vehicles 12, 14, 16, 18, within a first range of the subject vehicle 10. The first range may extend for example 200 metres ahead, or forwards, of the subject vehicle 10, and 50 metres behind, or rearwards, of the subject vehicle 10. In the example of Fig. 4 there are four autonomous vehicles 12, 14, 16, 18 within a first range, each of which comprise signal receiving means 50 for receiving the first signal 13 from the subject vehicle 10. It will be appreciated that in other examples, some of the vehicles 12, 14, 16, 18 may not be autonomous vehicles, and therefore may not comprise signal receiving means 50 for receiving the first signal 13 from the subject vehicle 10.

The receiving means 42 of the subject vehicle 10 is arranged to receive vehicle data, for one or more autonomous vehicles 12, 14, 16, 18 within the first range of the subject vehicle 10, in dependence on a user selection of a parking assistance mode. In another example, the receiving means 42 of the subject vehicle 10 is arranged to receive vehicle data, for each of the one or more autonomous vehicles 12, 14, 16, 18 within the first range of the subject vehicle 10, in dependence on a user selection of a parking assistance mode.

The parking assistance mode may be an autonomous or semi-autonomous parking mode and/or a parking mode wherein information relating to vehicle parking is provided to the user. In some examples, information relating to vehicle parking is provided to the user to execute a manual parking manoeuvre.

The parking assistance mode may be termed a "park for me" mode, and may be activated when an indication is provided that the subject vehicle 10 requires a parking space. The indication may be provided by a user input or actuation. The user input may be provided by the user to user input means 71 . The user input means 71 may be a user control or sensor. The user input may be an audible command, which may be received by a microphone in the vehicle, a touch via a touchscreen or soft or hard button or key, a gesture by the user within the vehicle or external to the vehicle, which may be detected by a sensor or camera arrangement, or by another action by the user. Alternatively, the autonomous parking mode may be activated in an autonomous or semi-autonomous manner based on one or more subject vehicle 10 situational parameters, such as subject vehicle position, subject vehicle attitude and subject vehicle manoeuvre indication which may be initiated by a user such as the driver of the subject vehicle 10. The subject vehicle manoeuvre indication may be the operation of a subject vehicle indicator 73.

The vehicle parking assistance apparatus 40 may comprise transmitting means 46, such as a wireless transceiver, arranged to transmit a first signal 13 to request the vehicle data relating to the one or more autonomous vehicles 12, 14, 16, 18 within the first range of the subject vehicle 10. The first signal 13 may be considered to be a vehicle interrogation signal, to interrogate the status of the autonomous vehicles 12, 14, 16, 18 within the first range of the subject vehicle 10.

An example of a schematic arrangement of components of an apparatus 48 for an autonomous vehicle 12, 14, 16, 18 is illustrated in Fig. 7. The apparatus comprises signal receiving means 50 arranged to receive the first signal 13, which in the arrangement of fig 4 is received from the subject vehicle 10. The signal receiving means may be a transceiver. The apparatus comprises first sensing means 52 arranged to determine a vehicle position. The first sensing means 52 may be arranged to determine a vehicle position in response to receipt of the first signal 13. The first sensing means 52 may be a GPS transceiver or other vehicle location device.

The apparatus 48 comprises second sensing means 54 arranged to determine a gap between the autonomous vehicle 12, 14, 16, 18 and an object adjacent to the autonomous vehicle 12, 14, 16, 18, which may be further autonomous vehicles 12, 14, 16, 18 or other objects such as non-autonomous vehicles, walls, posts and bollards. The second sensing means 54 may be arranged to determine a gap between the autonomous vehicle 12, 14, 16, 18 and an object adjacent to the autonomous vehicle 12, 14, 16, 18 in response to receipt of the first signal 13. The second sensing means 54 may be, for example, parking sensors or radar systems which may be operable on the autonomous vehicle 12, 14, 16, 18 for other additional purposes such as to warn of the proximity of vehicles or objects during parking and/or driving manoeuvres.

The apparatus 48 comprises signal transmitting means 56 arranged to transmit the autonomous vehicle position and gap between the autonomous vehicle 12, 14, 16, 18 and an object adjacent to the autonomous vehicle 12, 14, 16, 18. In particular, the signal transmitting means 56 may transmit the vehicle position and gap between the autonomous vehicle 12, 14, 16, 18 and an object adjacent to the autonomous vehicle 12, 14, 16, 18 to a receiving means 42 arranged to receive vehicle data for the autonomous vehicle 12, 14, 16, 18 when within a first range of a subject vehicle 10. The apparatus 48 may comprise intervening components such a vehicle CAN bus for communication of data in the autonomous vehicle 12, 14, 16, 18 between the components of the apparatus 48 and an electronic control unit, for controlling operation of the various components of the apparatus 48.

The first signal 13 may be received from a subject vehicle 10, when the apparatus 48 forms part of a vehicle to vehicle communication system, or, in other examples, via a server 60, cloud or other network infrastructure or system. In other examples, instructions may be received via a server 60, cloud or other network infrastructure or system, after being generated by a subject vehicle 10. That is, the subject vehicle 10 may generate instructions for the autonomous vehicles 12, 14, 16, 18 and transmit the instructions to the autonomous vehicles 12, 14, 16, 18 via a server 60, the cloud, or other network infrastructure or system. Alternatively, the instructions may be generated by the server 60, in the cloud or on another network infrastructure or system, from data received from the subject vehicle 10, such that processing of the data from the subject vehicle 10 is required to be processed external to the subject vehicle 10.

The apparatus 48 may comprise instruction receiving means 58 arranged to receive instructions to move the autonomous vehicle 12, 14, 16, 18. The instruction receiving means 58 may be, be part of, or be operably connected to, the signal receiving means 50. The instruction receiving means 58 may therefore be a transceiver and/or be part of the same transceiver as the signal receiving means 50. Movement of the autonomous vehicle 12, 14, 16, 18 in accordance with received instructions may be restricted by the determination of a gap between the autonomous vehicle 12, 14, 16, 18 and an object adjacent to the autonomous vehicle 12, 14, 16, 18 during movement of the autonomous vehicle 12, 14, 16, 18, to maintain at least a minimum gap between the autonomous vehicle 12, 14, 16, 18 and an object adjacent to the autonomous vehicle 12, 14, 16, 18 during movement of the autonomous vehicle 12, 14, 16, 18.

Returning to the example of Fig. 4, in response to receiving the first signal 13 from the subject vehicle 10, each of the autonomous vehicles 12, 14, 16, 18 determines its position using a vehicle position sensor 52, which may be a GPS transceiver, and determines the gap between itself and any adjacent objects, such as between a forward most surface of the autonomous vehicle 12, 14, 16, 18 and an object ahead of the autonomous vehicle 12, 14, 16, 18, and between a rearward most surface of the autonomous vehicle 12, 14, 16, 18 and an object behind the autonomous vehicle 12, 14, 16, 18. The gap may be determined using distance measuring or proximity sensors 54 positioned at, or arranged to measure from, the forward most surface of the autonomous vehicle 12, 14, 16, 18, and at, or arranged to measure from, the rearward most surface of the autonomous vehicle 12, 14, 16, 18.

Fig. 8 further illustrates the components of one example of the autonomous vehicles 12, 14, 16, 18. A vehicle position sensor 52, or vehicle global positioning system such as a GPS transceiver comprising a GPS antenna is arranged within each of the autonomous vehicles 12, 14, 16, 18 to provide autonomous vehicle position data. Front and rear distance measuring or proximity sensors 54, in the form of parking sensors 54 may be used to measure the distance between the front and rear bumpers and any adjacent objects. Alternatively front and rear distance measuring or proximity sensors 54, in the form of radar, lidar, time of flight sensors, optical sensors or other distance measuring means may be used to measure the distance between the front and rear bumpers and any adjacent objects. It is considered that the maximum distance such distance measuring or proximity sensors 54 would need to measure would be equal to the subject vehicle minimum parking gap 1 1 . The distance measuring or proximity sensors 54 then provide gap data. A vehicle to vehicle transceiver 56 is then used to transmit the autonomous vehicle position and gap data to the subject vehicle 10. Data is obtained by and transmitted from each autonomous vehicle 12, 14, 16, 18 within a first range of the subject vehicle 10. The autonomous vehicle position and gap data is then received at the receiving means 42 of the subject vehicle 10. Processing means 44 at the subject vehicle 10 then processes the autonomous vehicle position and gap data for each autonomous vehicle 12, 14, 16, 18 within a first range of the subject vehicle 10.

The gap data is analysed to ascertain whether there is a gap between an autonomous vehicle 12, 14, 16, 18 and an object adjacent the autonomous vehicle 12, 14, 16, 18 which is equal to or greater than the subject vehicle minimum parking gap 1 1 . If there is such a gap, then the position of that gap is calculated using the autonomous vehicle position data for the autonomous vehicles 12, 14, 16, 18 bounding that gap. This position can be used to autonomously park the subject vehicle 10 in the gap, if the subject vehicle 10 is capable of autonomous parking.

Alternatively, the location of the gap can be indicated to the driver of the vehicle via a user output means 72, for example by using a visual prompt on a visual display or audible prompt via vehicle speakers or a vehicle connected device capable of outputting audible content. Such audio and visual prompts can be provided by a satellite navigation system. Even if the subject vehicle 10 is to be autonomously parked, an indication of a found gap can be provided to the driver and any passengers before the autonomous park manoeuvre is started in order to avoid driver or passenger surprise at subject vehicle 10 movement. When autonomously parking, the subject vehicle user or driver may or may not be present in the subject vehicle 10 in order for it to be parked, in which case it may not be necessary to indicate movement of the subject vehicle 10 is to occur. If the subject vehicle 10 is in an autonomous parking mode then the subject vehicle 10 may proceed to position itself within the gap.

If there is no gap which is determined to be equal to or greater than the subject vehicle minimum parking gap 1 1 , then the processing means 44 determines if one or more autonomous vehicles 12, 14, 16, 18 for which autonomous vehicle position and gap data has been received, can be moved to create a suitable parking gap equal to or greater than the minimum parking distance requirement of the subject vehicle 10. If such a parking gap can be created, then the processing means 44 calculates a sequence of instructions 15 to be provided to one or more of the autonomous vehicles 12, 14, 16, 18 to move that one or more autonomous vehicle to create the gap equal to or greater than the minimum parking gap requirement of the subject vehicle 10.

The processing means 44 may calculate the most efficient sequence of autonomous vehicle moves to create the gap equal to or greater than the minimum parking distance requirement of the subject vehicle 10. This may be based upon the minimum number of autonomous vehicles 12, 14, 16, 18 that need to be moved in order to create the required gap for the subject vehicle 10. Alternatively, this may be based upon minimizing the movement of each of the autonomous vehicles 12, 14, 16, 18 to be moved to create the required gap to ensure that any one individual autonomous vehicle 12, 14, 16, 18 is not moved by a significant distance, thus avoiding the returning driver and/or passengers being surprised by any automated vehicle movement. The requirement to move autonomous vehicles 12, 14, 16, 18 may be limited by a maximum distance that any one autonomous vehicle may be moved in order to create a gap- In such circumstances, the maximum movement of any autonomous vehicle 12, 14, 16, 18 may be limited to a distance based on a multiple of the autonomous vehicle length. For example the maximum movement of the autonomous vehicle 12, 14, 16, 18 may be limited to two times the autonomous vehicle length. A significant distance may be a distance more than two times the autonomous vehicle length, though it will be appreciated that other distances may be chosen as a significant distance. This maximum autonomous vehicle movement distance will generally be a distance equal to the subject vehicle minimum parking gap 1 1 such that no autonomous vehicle 12, 14, 16, 18 should have to move more than the subject vehicle minimum parking gap 1 1 , for any one subject vehicle 10 parking request, unless the autonomous vehicle 12, 14, 16, 18 is required to move a further or greater distance to avoid moving the autonomous vehicle 12, 14, 16, 18 to an unsafe or restricted location. For example, by moving an autonomous vehicle 12, 14, 16, 18 a distance to create a subject vehicle minimum parking gap 1 1 , the autonomous vehicle 12, 14, 16, 18 may be moved into a restricted area, such as a pedestrian crossing. The autonomous vehicle 12, 14, 16, 18 may then be instructed to move further than the distance equal to the subject vehicle minimum parking gap 1 1 in order to avoid parking in the restricted area. The vehicle length information could form part of the vehicle data for an autonomous vehicle 12, 14, 16, 18.

The movement of an autonomous vehicle 12, 14, 16, 18 may be limited by the minimum parking gap required for the autonomous vehicle 12, 14, 16, 18, which may be predefined and/or be particular to the autonomous vehicle 12, 14, 16, 18, or may be user set within certain defined limits. For example, the parking gap required for the autonomous vehicle 12, 14, 16, 18 may be increased by a user, but only up to a particular limit, which limit may be between 100% and 150% of the minimum vehicle parking gap calculated from the minimum turning circle of the vehicle or from other vehicle parameters. In one example, the limit at which the parking gap required for the autonomous vehicle 12, 14, 16, 18 may be set is 1 10% of the minimum vehicle parking gap calculated from the minimum turning circle of the autonomous vehicle 12, 14, 16, 18. Additionally, or alternatively, the movement of an autonomous vehicle 12, 14, 16, 18 may be limited by the requirements for access, such as for disabled access. Information relating to a minimum vehicle parking gap may be provided for emergency vehicles, even if such vehicles are not autonomous, such that the gaps forward and rearward of such emergency vehicles can be maintained at such distances so as to maintain access. For example, for an ambulance, additional distance may be required rearward of the vehicle to safely load and unload a stretcher from the rear of the vehicle.

Alternatively, or in addition, the maximum movement of any autonomous vehicle 12, 14, 16, 18 may be limited to a maximum movement equal to a subject vehicle minimum parking gap 1 1 for a first manoeuvre, with subsequent movements of that autonomous vehicle 12, 14, 16, 18 being limited to reversing the direction of movement, such that the overall displacement of the autonomous vehicle 12, 14, 16, 18 from its original parking position is never more than a subject vehicle minimum parking gap 1 1 for any subsequent manoeuvre.

Autonomous vehicles 12, 14, 16, 18 may be prevented from moving if it would result in a gap which is too small for an adjacent vehicle to extricate itself from, or if the autonomous vehicle 12, 14, 16, 18 would hit another object for example another parked vehicle or stationary object. Additionally, autonomous vehicles 12, 14, 16, 18 may be prevented or prohibited permanently or temporarily from moving if the autonomous vehicle 12, 14, 16, 18 would hit, or would be likely to hit a moving object such as a vehicle or a pedestrian. The processing means 44 of the subject vehicle 10 may be arranged to receive data relating to threats or dangers in close proximity to the autonomous vehicle 12, 14, 16, 18 to be moved. Such data may be in the form of camera or sensor data from the autonomous vehicle 12, 14, 16, 18 and/or from other vehicles in the vicinity, or be proximity or threat data provided by the autonomous vehicle 12, 14, 16, 18 and/or other vehicles in the vicinity. The processing means 44 may be arranged to prevent movement of the autonomous vehicle 12, 14, 16, 18 if a restricted gap, for example an emergency vehicle or disabled access, a pathway, a road junction, a pedestrian crossing, a school crossing or any other restricted area, would be compromised.

The processing means 44 may be arranged to prevent movement of the autonomous vehicle if people are detected within the autonomous vehicle, sensing vehicle occupancy using occupancy sensors such as internal cameras in combination with image recognition software, IR sensors, optical sensors or pressure sensors located in the vehicle seats. The processing means 44 may be arranged to prevent movement of the autonomous vehicle 12, 14, 16, 18 if people are getting in to or out of the autonomous vehicle 12, 14, 16, 18. Detection of people getting into or out of an autonomous vehicle 12, 14, 16, 18 may be performed using the aforementioned occupancy sensors, vehicle proximity sensors, including internal and external cameras, detection of an open door, or detection of a recent unlock request for the autonomous vehicle 12, 14, 16, 18. The processing means 44 may therefore be arranged to prevent movement of the autonomous vehicle 12, 14, 16, 18 if the autonomous vehicle 12, 14, 16, 18 or an occupant would be placed in or moved into potential danger. The instructions to move the at least one of the one or more autonomous vehicles 12, 14, 16, 18 preferentially create a gap forward of the subject vehicle 10 in preference to creation of a gap rearward of the subject vehicle 10.

In one example, the processing means 44 calculates instructions to form a gap within fifty metres ahead of the subject vehicle 10 rather than create a gap within ten metres behind the subject vehicle 10. This may beneficially allow the subject vehicle 10 to perform a parking manoeuvre in a gap forward of the subject vehicle 10, restricting rearward or reversing movement of the subject vehicle 10 potentially against a flow of traffic. In another example, the processing means 44 may create or establish instructions to form a gap within ten metres behind the subject vehicle 10 rather than create a gap within one hundred metres ahead of the subject vehicle 10. The threshold for providing instructions rearward of the subject vehicle 10 in preference to calculating instructions forward of the subject vehicle 10, may be, for example that the gap calculated rearward of the subject vehicle 10 is less than one fifth of the distance to the gap calculated forward of the subject vehicle 10. The skilled person would understand that other thresholds may be chosen without undue burden.

The vehicle parking assistance apparatus 40 may comprise transmitting means 46 arranged to transmit the sequence of instructions 15 to the one or more autonomous vehicles 12, 14, 16, 18.

In one example, the transmitting means 46 is provided on the subject vehicle 10. In another example the transmitting means 46 is provided on a server 60. The transmitting means 46 is arranged to transmit the sequence of instructions 15 to the one or more autonomous vehicles 12, 14, 16, 18 within the first range of the subject vehicle 10.

Therefore, the subject vehicle 10 may communicate with the autonomous vehicles 12, 14, 16, 18 directly or through a remote server 60 or cloud computing arrangement, to determine the ability of each of the one or more autonomous vehicles 12, 14, 16, 18 within the first range of the subject vehicle 10 to move. Additionally, the subject vehicle 10 may communicate with the autonomous vehicles 12, 14, 16, 18 directly or through a remote server 60 or cloud computing arrangement, to determine the extent to which each of the one or more autonomous vehicles 12, 14, 16, 18, within the first range of the subject vehicle 10, can move.

In the example of Fig. 5, the subject vehicle 10 transmits instructions to one of the autonomous vehicles 12, 14, 16, 18 for the autonomous vehicle 16 to move to create a gap equal to or greater than the subject vehicle minimum parking gap 1 1 . In the example of Fig. 5, one autonomous vehicle 16 moves forward to be closer to another autonomous vehicle 18 in front of the autonomous vehicle 16 and further away from yet another autonomous vehicle 14 behind the autonomous vehicle 16. As a result, a gap is formed between two autonomous vehicles 14, 16 which is equal to or greater than the subject vehicle minimum parking gap 1 1 . Fig. 6 illustrates the positioning of the subject vehicle 10 when parked between the two autonomous vehicles 14, 16. In embodiments of the invention, if there is no gap determined to be equal to or greater than the subject vehicle minimum parking gap 1 1 , and no gap equal to or greater than the subject vehicle minimum parking gap 1 1 can be created by moving the autonomous vehicles 12, 14, 16, 18 within the first range of the subject vehicle 10, then the receiving means 42 is arranged to receive vehicle data for each of one or more autonomous vehicles 12, 14, 16, 18 within a second range of the subject vehicle 10, greater than the first range. The processing means 44 may be arranged to determine from the vehicle data, for each of the one or more autonomous vehicles 12, 14, 16, 18, if there is a gap, between the autonomous vehicle 12, 14, 16, 18 and an object adjacent to the autonomous vehicle 12, 14, 16, 18, equal to or greater than a subject vehicle minimum parking gap 1 1 , and if there is no gap determined to be equal to or greater than the subject vehicle minimum parking gap 1 1 , calculate instructions to be provided to at least one of the one or more autonomous vehicles 12, 14, 16, 18 within the second range of the subject vehicle 10 to move the at least one of the one or more autonomous vehicles 12, 14, 16, 18.

In some examples, additional extension of the range can be provided up to a maximum range, which range may be for example one kilometre. The range may be limited to a vehicle to vehicle communication range, which may be for example one kilometre. Therefore, the vehicle parking assistance apparatus 40 may interrogate a first set of autonomous vehicles 12, 14, 16, 18 within a first range from the subject vehicle 10 and attempt to provide a suitable gap for the subject vehicle 10, but if this does not provide a suitable gap then interrogate a second set of autonomous vehicles, which may or may not include some or all of the autonomous vehicles of the first set of autonomous vehicles 12, 14, 16, 18, within a second range from the subject vehicle 10. The second range could define a radius from the subject vehicle 10 or a linear distance along a road or a lane of a car park from the subject vehicle 10. The second range may comprise a third distance, wherein the third distance is a distance forward of the subject vehicle 10. The third distance may be greater than the first distance. The second range may comprise a fourth distance, wherein the fourth distance is a distance rearward of the subject vehicle 10. The fourth distance may be the same as the third distance or the fourth distance may be a different distance to the third distance. The fourth distance may be less than the third distance. The fourth distance may be greater than the second distance. In one example, the third distance may be one hundred metres forwards of the subject vehicle 10 and the fourth distance may be twenty metres rearwards of the subject vehicle 10. In some examples, further extensions of the range can be provided until a gap for the subject vehicle 10 to park in can be determined or calculated.

In some examples, the first signal 13 comprises authentication data for authenticating the vehicle parking assistance apparatus 40.

The authentication data may provide authentication of the subject vehicle 10 to communicate with or to the autonomous vehicles 12, 14, 16, 18, and may provide authorization for the subject vehicle 10 or a user of the subject vehicle 10 to instruct autonomous vehicles 12, 14, 16, 18 within a first range of the subject vehicle 10 to move autonomously. If the authentication data in the first signal 13 does not identify a subject vehicle 10 capable of or authorized to provide autonomous vehicle instruction, the autonomous vehicle instruction will not be carried out. In the examples described herein and illustrated in Figs. 1 , 4, 5, 6 and 8, the autonomous vehicles 12, 14, 16, 18 communicated with to determine positions and gaps are on the same side of the road as the subject vehicle 10. However, it will be understood that one or more of the autonomous vehicles 12, 14, 16, 18 communicated with to determine positions and gaps may be on the opposite side of the road to the subject vehicle 10, and, in some examples, gaps on either side of a road may be determined by the vehicle parking assistance apparatus 40.

In an another example, the processing means 44 may be configured or arranged to calculate instructions to arrange gaps between the one or more autonomous vehicles 12, 14, 16, 18 and adjacent objects, which objects may be other autonomous vehicles, to be as equal as possible for all the autonomous vehicles 12, 14, 16, 18 to be moved, notwithstanding immovable objects and/or vehicles with minimum gap requirements. Such movement of the autonomous vehicles 12, 14, 16, 18 will be limited by at least the minimum distance of each of the autonomous vehicles 12, 14, 16, 18 to manoeuvre out of the gap left once the vehicle has moved. In this way, an autonomous vehicle 12, 14, 16, 18 will not manoeuvre itself to be positioned such that it is unable to extricate itself, or such that a driver is unable to extricate the autonomous vehicle 12, 14, 16, 18, from the parking space or gap. In another example, the one or more autonomous vehicles 12, 14, 16, 18 may transmit their position to a remote server 60. The one or more autonomous vehicles 12, 14, 16, 18 may transmit their position continuously or periodically, for example every minute, or using either continuous or periodic transmission depending on available communication bandwidth. In an example, the one or more autonomous vehicles 12, 14, 16, 18 may only transmit its position when it has been determined that the autonomous vehicle 12, 14, 16, 18 has been parked, which may be determined when the ignition has been switched off, and/or when autonomous vehicle 12, 14, 16, 18 has been idle for a predefined period of time, such as five minutes, and/or when the driver and passengers have exited the autonomous vehicle, which may be detected using occupancy sensors such as cameras, IR sensors, optical sensors and/or pressure sensors in the vehicle seats.

Figure 9a illustrates a flow chart of an example method for vehicle parking. The method may in some examples be performed by the vehicle parking assistance apparatus 40.

The method for vehicle parking comprises, at block 1 10, receiving vehicle data for each of one or more autonomous vehicles 12, 14, 16, 18 within a first range of a subject vehicle 10. The vehicle data for one or more autonomous vehicles 12, 14, 16, 18 may be received at receiving means 42 of the vehicle parking assistance apparatus 40 as described above.

At block 120 the method comprises determining from the vehicle data, for each of the one or more autonomous vehicles 12, 14, 16, 18, if there is a gap, between the autonomous vehicle 12, 14, 16, 18 and an object adjacent to the autonomous vehicle 12, 14, 16, 18, equal to or greater than a subject vehicle minimum parking gap 1 1 or requirement.

At block 130, if there is a gap determined to be equal to or greater than the subject vehicle minimum parking gap 1 1 then no instructions are calculated to be provided to autonomous vehicles 12, 14, 16, 18 to move the autonomous vehicles 12, 14, 16, 18 and the process ends at block 140.

If there is no gap determined to be equal to or greater than the subject vehicle minimum parking gap 1 1 , then at block 150 the method comprises calculating instructions to be provided to at least one of the one or more autonomous vehicles 12, 14, 16, 18 within the first range of the subject vehicle 10 to move the at least one of the one or more autonomous vehicles 12, 14, 16, 18.

Figure 9b illustrates a flow chart of an example method for vehicle parking. The method may in some examples be performed by the vehicle parking assistance apparatus 40. In particular the process is for vehicle to vehicle communication.

At block 210 the driver of the vehicle initiates a parking assistance function for the subject vehicle 10. This may be by selecting a "park for me mode" on an automated or autonomous subject vehicle 10.

At block 220 the vehicle provides a first signal 13 to automated vehicles 12, 14, 16, 18 parked in the vicinity of the subject vehicle 10 to interrogate the autonomous vehicles 12, 14, 16, 18 to obtain vehicle data for the autonomous vehicles 12, 14, 16, 18. The vehicle data comprises position data and gap data.

At block 230 the autonomous vehicles 12, 14, 16, 18 measure their position and the gap to adjacent objects. Adjacent objects may be walls, bollards, bikes, pedestrians and other objects that are not autonomous vehicles. When parked adjacent other autonomous vehicles 12, 14, 16, 18, the gap is a bumper to bumper (fender to fender) gap. Position data may be obtained from GPS coordinates.

At block 240 the autonomous vehicles 12, 14, 16, 18 transmit the vehicle data to the subject vehicle 10.

At block 250 it is determined by the processing means 44 of the subject vehicle 10 whether there is a gap that can accommodate the subject vehicle 10.

If there is a gap that can accommodate the subject vehicle 10, then at block 260, the subject vehicle 10 is positioned in the gap via a parking manoeuvre, and the process ends at block 270.

If there is not a gap that can accommodate the subject vehicle 10, then at block 280 the subject vehicle 10 establishes the most convenient and/or efficient sequence of instructions 15 for the autonomous vehicles 12, 14, 16, 18 in the vicinity of the subject vehicle 10 in order to consolidate the gaps between autonomous vehicles 12, 14, 16, 18 to create a suitable parking space or gap for the subject vehicle 10. At block 290 the subject vehicle 10 transmits instructions to the autonomous vehicles 12, 14, 16, 18 to move according to the instructions to consolidate the gaps.

At block 300 the autonomous vehicles 12, 14, 16, 18 execute the instructions to move and confirm completion to the subject vehicle 10. The process then executes block 260, where the subject vehicle 10 is positioned in the gap via a parking manoeuvre, and the process ends at block 270.

In an alternative embodiment the driver of the vehicle initiates a parking assistance function for the subject vehicle 10. This may be by selecting a "create parking space" mode on an automated or autonomous or non-automated or non-autonomous subject vehicle 10. At block 260 the subject vehicle 10 may be manually positioned in the gap via a parking manoeuvre executed by the driver of the subject vehicle 10, and the process ends at block 270. The remaining blocks of the process are then as illustrated in Fig. 9b. Fig. 10 illustrates a computer program 62 comprising instructions 70 that, when executed by one or more processors 44, cause a system to perform, at least one of the aforementioned methods. For example the system may be caused to perform, at least, receiving vehicle data for one or more autonomous vehicles 12, 14, 16, 18 within a first range of a subject vehicle 10, and determining from the vehicle data, for each of the one or more autonomous vehicles 12, 14, 16, 18, if there is a gap, between the autonomous vehicle 12, 14, 16, 18 and an object adjacent to the autonomous vehicle 12, 14, 16, 18, equal to or greater than a subject vehicle minimum parking gap 1 1 . If there is no gap determined to be equal to or greater than the subject vehicle minimum parking gap 1 1 , the system may be caused to perform calculating instructions to be provided to at least one of the one or more autonomous vehicles 12, 14, 16, 18 within the first range of the subject vehicle 10 to move the at least one of the one or more autonomous vehicles 12, 14, 16, 18.

Fig. 10 illustrates an example of a controller means 45 that may be a chip or a chipset. The controller means 45 may form part of one or more systems comprised in a vehicle 10. For example the controller means 45 may form part of a vehicle parking assistance apparatus 40, such as the one illustrated in the example of Fig. 2.

Implementation of a controller means 45 may be as controller circuitry. The controller means 45 may be implemented in hardware alone, have certain aspects in software including firmware alone or can be a combination of hardware and software (including firmware).

As illustrated in Fig. 10 the controller means 45 may be implemented using instructions that enable hardware functionality, for example, by using executable instructions of a computer program 62 in a general-purpose or special-purpose processor 44 that may be stored on a computer readable storage medium (disk, memory etc) to be executed by such a processor 44.

The processor 44 is configured to read from and write to the memory 66. The processor 44 may also comprise an output interface via which data and/or commands are output by the processor 44 and an input interface via which data and/or commands are input to the processor 44.

The memory 66 stores a computer program 62 comprising computer program instructions (computer program code) that controls the operation of the controller means 45 when loaded into the processor 44. The computer program instructions 70, of the computer program 62, provide the logic and routines that enables the apparatus to perform the methods illustrated in Figs. 9a and 9b. The processor 44 by reading the memory 66 is able to load and execute the computer program 62.

The controller means 45 therefore comprises: at least one processor 44; and at least one memory 66 including computer program code, the at least one memory 66 and the computer program code configured to, with the at least one processor 44, cause the controller means 45 at least to perform, at least, receiving vehicle data for one or more autonomous vehicles 12, 14, 16, 18 within a first range of a subject vehicle 10, and determining from the vehicle data, for each of the one or more autonomous vehicles 12, 14, 16, 18, if there is a gap, between the autonomous vehicle 12, 14, 16, 18 and an object adjacent to the autonomous vehicle 12, 14, 16, 18, equal to or greater than a subject vehicle minimum parking gap 1 1 . If there is no gap determined to be equal to or greater than the subject vehicle minimum parking gap 1 1 , the system may be caused to perform calculating instructions to be provided to at least one of the one or more autonomous vehicles 12, 14, 16, 18 within the first range of the subject vehicle 10 to move the at least one of the one or more autonomous vehicles 12, 14, 16, 18..

As illustrated in Fig 10, the computer program 62 may arrive at the controller means 45 via any suitable delivery mechanism 68. The delivery mechanism 68 may be, for example, a non-transitory computer-readable storage medium, a computer program product, a memory device, a record medium such as a compact disc read-only memory (CD-ROM) or digital versatile disc (DVD), or an article of manufacture that tangibly embodies the computer program 62. The delivery mechanism may be a signal configured to reliably transfer the computer program 62. The controller means 45 may propagate or transmit the computer program 62 as a computer data signal. Although the memory 66 is illustrated as a single component/circuitry it may be implemented as one or more separate components/circuitry some or all of which may be integrated/removable and/or may provide permanent/semi-permanent/ dynamic/cached storage. Although the processor 44 is illustrated as a single component/circuitry it may be implemented as one or more separate components/circuitry some or all of which may be integrated/removable. The processor 44 may be a single core or multi-core processor.

References to 'computer-readable storage medium', 'computer program product', 'tangibly embodied computer program' etc. or a 'controller', 'computer', 'processor' etc. should be understood to encompass not only computers having different architectures such as single /multi- processor architectures and sequential (Von Neumann)/parallel architectures but also specialized circuits such as field-programmable gate arrays (FPGA), application specific circuits (ASIC), signal processing devices and other processing circuitry. References to computer program, instructions, code etc. should be understood to encompass software for a programmable processor or firmware such as, for example, the programmable content of a hardware device whether instructions for a processor, or configuration settings for a fixed- function device, gate array or programmable logic device etc. The blocks illustrated in Figs. 9a and 9b may represent steps in a method and/or sections of code in the computer program 62. The illustration of a particular order to the blocks does not necessarily imply that there is a required or preferred order for the blocks and the order and arrangement of the block may be varied. Furthermore, it may be possible for some blocks to be omitted.

In examples, the vehicle parking assistance apparatus 40 of Fig. 2, or the controller means 45 of Fig. 10 provides means for performing the methods illustrated in Figs. 9a and 9b, and as described herein.

For purposes of this disclosure, it is to be understood that the controller(s) described herein can each comprise a control unit or computational device having one or more electronic processors. A vehicle and/or a system thereof may comprise a single control unit or electronic controller or alternatively different functions of the controller(s) may be embodied in, or hosted in, different control units or controllers. A set of instructions could be provided which, when executed, cause said controller(s) or control unit(s) to implement the control techniques described herein (including the described method(s)). The set of instructions may be embedded in one or more electronic processors, or alternatively, the set of instructions could be provided as software to be executed by one or more electronic processor(s). For example, a first controller may be implemented in software run on one or more electronic processors, and one or more other controllers may also be implemented in software run on or more electronic processors, optionally the same one or more processors as the first controller. It will be appreciated, however, that other arrangements are also useful, and therefore, the present disclosure is not intended to be limited to any particular arrangement. In any event, the set of instructions described above may be embedded in a computer- readable storage medium (e.g., a non-transitory storage medium) that may comprise any mechanism for storing information in a form readable by a machine or electronic processors/computational device, including, without limitation: a magnetic storage medium (e.g., floppy diskette); optical storage medium (e.g., CD-ROM); magneto optical storage medium; read only memory (ROM); random access memory (RAM); erasable programmable memory (e.g., EPROM ad EEPROM); flash memory; or electrical or other types of medium for storing such information/instructions. As used here 'module' refers to a unit or apparatus that excludes certain parts/components that would be added by an end manufacturer or a user.

Although embodiments of the present invention have been described in the preceding paragraphs with reference to various examples, it should be appreciated that modifications to the examples given can be made without departing from the scope of the invention as claimed.

Features described in the preceding description may be used in combinations other than the combinations explicitly described.

Although functions have been described with reference to certain features, those functions may be performable by other features whether described or not. Although features have been described with reference to certain embodiments, those features may also be present in other embodiments whether described or not.

Whilst endeavoring in the foregoing specification to draw attention to those features of the invention believed to be of particular importance it should be understood that the Applicant claims protection in respect of any patentable feature or combination of features hereinbefore referred to and/or shown in the drawings whether or not particular emphasis has been placed thereon.