PARK DISTANCE ADJUSTMENT FOR BOOT CLEARANCE

Aspects of the present invention relate to a method (500), a control system (100) and a vehicle (300) for controlling a parking manoeuvre of a vehicle. The method includes controlling a driving unit (120) to perform a first reversing manoeuvre to reverse the vehicle into an area in which the vehicle is to be parked. The method further includes receiving an object detection signal (112) from a first sensing means (202) of the vehicle, where the object detection signal is indicative of a presence of an external object (410) detected at a rear of the vehicle and a distance between the detected external object and the vehicle. The method additionally includes controlling the driving unit to stop the first reversing manoeuvre in response to the object detection signal indicating that the external object is within a first predetermined distance of the vehicle. The method also includes controlling, in response to receiving a user input, the driving unit to perform a second reversing manoeuvre to continue to reverse the vehicle into the area. The method also includes receiving a boundary detection signal from a second sensing means (204) of the vehicle, where the boundary detection signal is indicative of a presence of an external boundary indicator indicating a parking boundary. The method further includes controlling the driving unit to stop the second reversing manoeuvre in response to the boundary detection signal indicating that the vehicle is within the parking boundary.