Method of controlling an autonomous vehicle

Abstract

A computer-implemented method of controlling an autonomous vehicle (AV) for delivering a payload (120) to an intended delivery location (130-2), the method comprising the steps of: identifying a first AV (110-1) for retrieving the payload from a first location (130-1); determining a second location (140-1) to which the first AV is capable of travelling from the first location with the payload; instructing the first AV to retrieve the payload from the first location and deliver the payload to the second location; transmitting a wireless communication (160) requesting another AV to assist in delivering the payload from the second location, wherein the wireless communication is in the form of a system information message; in response to the wireless communication, identifying a second AV (110-2) for retrieving the payload from the second location; and instructing the second AV to retrieve the payload from the second location and deliver the payload to the intended delivery location (140-3).

Description

Technical Field

[0001] This invention relates to a method for controlling an autonomous vehicle. Background Technology

[0002] Autonomous vehicles (AVs) (such as autonomous cars or drones) can be used for logistics. In particular, such AVs can be used to deliver packages from distribution centers to delivery points.

[0003] In many cases, airborne AVs (AAVs) draw power for propulsion from internal batteries. Therefore, due to the limited battery power, such AVs have a limited range, typically offering less than an hour of travel value, and in many cases only 20-30 minutes. This significantly limits the logistical use of such AVs.

[0004] Therefore, multiple AVs may be needed to perform the task; however, this requires coordination of the AVs, which in turn requires the AVs to be able to transmit information effectively. For this purpose, the AVs can be equipped with telecommunications equipment for accessing wireless cellular telecommunications networks. However, the cellular network may fail or become unavailable near the AVs, in which case it will no longer be possible to effectively coordinate the AVs to work consistently for long-distance (i.e., beyond the AVs' travel range) delivery of packages.

[0005] In view of the above, the object of the present invention is to at least alleviate some of the aforementioned problems. Summary of the Invention

[0006] According to a first aspect of the invention, a computer-implemented method is provided for controlling an autonomous vehicle (AV) for delivering a payload to a intended delivery location, the method comprising the steps of: identifying a first AV for retrieving a payload from a first location; determining a second location to which the first AV can travel from the first location with the payload; instructing the first AV to retrieve the payload from the first location and deliver the payload to the second location, wherein the wireless communication is in the form of a system information message; transmitting a wireless communication requesting another AV to assist in delivering the payload from the second location; in response to the wireless communication, identifying a second AV for retrieving the payload from the second location; and instructing the second AV to retrieve the payload from the second location and deliver the payload to the intended delivery location.

[0007] Optionally, the step of identifying the second AV is performed before or after indicating the first AV. Optionally, the second AV is located at or away from the second location before indicating the second AV. Optionally, the second location is determined based on the location of the second AV. Preferably, the method further includes the step of identifying that the first AV cannot deliver the payload to the intended delivery location, but the first AV is capable of traveling away from the first location with the payload.

[0008] Optionally, the system information message is transmitted by a radio access point of a cellular telecommunications network. Preferably, the system information message can be received and processed by a first AV and / or a second AV without registration with the cellular telecommunications network, wherein the first AV and the second AV are capable of registering with and / or establishing a network data session with the cellular telecommunications network. Preferably, as used herein, the term "system information message" includes any communication used to configure (but not necessarily establish) ongoing telecommunications, and particularly at the physical layer of networking. The system information message may be overhead communication. Preferably, the system information message includes Master Information Block (MIB) and / or System Information Block (SIB) messages, such as those described in 3GPP Technical Specification 36.331, Version 15.4.0, Section 5.2, whereby the System Information Block (SIB) may be in the form of any of Type 1 to 13 SIBs, and preferably in the form of Type 1 SIB. Preferably, the wireless communication is transmitted within a portion of the electromagnetic spectrum that is licensed (or specially licensed) for wide-area telecommunications, particularly for cellular telecommunications. Preferably, the first AV and the second AV are subscribed only to telecommunications networks different from each other. Optionally, wireless communication can be transmitted and / or received via the PC5 interface.

[0009] Preferably, wireless communication is transmitted via a radio access point of a cellular telecommunications network, and wherein the first AV registers with the radio access point.

[0010] Optionally, the radio access point is closest to the first AV and / or the second AV. Optionally, wireless communication is transmitted by multiple radio access points, wherein the multiple radio access points are arranged around the first AV or centered on the first AV. Preferably, the second AV does not register with the radio access points, and more preferably, cannot register with the radio access points.

[0011] Optionally, the steps of the second AV are instructed to be performed wirelessly in the form of a system information message.

[0012] Preferably, the wireless communication is received by the second AV via at least one intermediate AV. Preferably, the wireless communication includes a second location and / or the intended delivery location.

[0013] Preferably, the second position is determined based on the maximum travel range of the first AV.

[0014] Preferably, the method further includes the steps of: retrieving capability information regarding the ability of the second AV to retrieve a payload and deliver the payload to a intended delivery location, and identifying and / or indicating the second AV based on the capability information. Optionally, the capability information is retrieved via device-to-device communication from the second AV to the first AV.

[0015] Preferably, the step of determining the second position is performed by the first AV. Optionally, the determination is performed by a remote processor, wherein the first AV communicates wirelessly with the remote processor.

[0016] Preferably, the step of identifying and / or instructing the second AV is performed by the first AV. Optionally, the identification is performed by a remote processor, wherein the first AV communicates wirelessly with the remote processor.

[0017] Preferably, the step of identifying the second AV further includes the following steps: broadcasting the wireless communication; and receiving a response from the second AV in response to the wireless communication, wherein the second AV is identified based on the response.

[0018] Preferably, the response includes: the availability of the second AV; the travel range of the second AV; the current location of the second AV; and / or the capability of the second AV to carry a payload. Optionally, the method includes the step of receiving multiple responses to broadcast wireless communication from a plurality of respective AVs, wherein a second AV is selected from the plurality of AVs based on the responses from the second AVs.

[0019] Preferably, the second position is closer to the intended delivery position than the first position.

[0020] Preferably, the first AV carries one or more payloads to one or more intended delivery locations, and wherein multiple second AVs are identified and instructed to retrieve one or more payloads and deliver them to one or more intended delivery locations.

[0021] Preferably, the wireless communication includes a priority level for delivery, and wherein the identification is performed according to the priority level.

[0022] Optionally, a second AV can be identified and designated based on priority level in order to override the current task in which the second AV is involved, such as another delivery.

[0023] Preferably, the first AV and / or the second AV are unmanned. Preferably, the first AV and / or the second AV are air, sea and / or ground vehicles.

[0024] According to another aspect of the present invention, a storage medium is provided that carries computer-readable code representing instructions, which, when executed by at least one processor, cause the at least one processor to perform the above-described method.

[0025] This invention includes any novel aspects described and / or illustrated herein. The invention also extends to methods and / or apparatus substantially as described herein and / or as shown with reference to the accompanying drawings. The invention is also provided as computer programs and / or computer program products for performing any methods described herein and / or implementing any apparatus features described herein, and as computer-readable media storing programs for performing any methods described herein and / or implementing any apparatus features described herein. Features described as being implemented in hardware may alternatively be implemented in software, and vice versa.

[0026] The present invention also provides a method for transmitting signals, and a computer product having an operating system that supports computer programs for performing any of the methods described herein and / or for implementing any of the device features described herein.

[0027] Any device feature can also be provided as a corresponding step of the method, or vice versa. As used herein, device plus functional features can alternatively be represented according to their respective structures, for example, as a suitably programmed processor.

[0028] Any feature in one aspect of the invention may be applied in any suitable combination to other aspects of the invention. Any, some, and / or all features in one aspect may be applied in any suitable combination to any, some, and / or all features in any other aspect. Specific combinations of the various features described and defined in any aspect of the invention may be implemented and / or provided and / or used independently.

[0029] As used throughout the text, the word "or" can be interpreted in an exclusive and / or inclusive sense, unless otherwise specified.

[0030] The present invention extends to methods for controlling autonomous vehicles as described herein and / or substantially as shown with reference to the accompanying drawings. The invention will now be described by way of example only with reference to the accompanying drawings, in which:

[0031] Figure 1 A schematic diagram of multiple autonomous vehicles (AVs) delivering payloads in a relay is shown;

[0032] Figure 2 The process for controlling the AV to perform delivery is shown; and

[0033] Figure 3 and Figure 4This is a flowchart illustrating the communication process used to control the AV to perform delivery. Detailed Implementation

[0034] Figure 1 Multiple autonomous vehicles (AVs) 110 in the form of unmanned aerial vehicles (or so-called "drones") are shown, which are instructed to deliver a payload 120 from an origin point 130-1 (such as a parcel distribution center) to a intended final delivery destination 130-2 (such as the recipient's address). The AVs include wireless telecommunications equipment (not shown) to enable communication with cellular wireless telecommunications networks, and in particular with radio access points 155 that form part of telecommunications networks.

[0035] A process 200 is provided for delivering payload 120 to intended destination 130-2 via multiple AVs 110 operating in a relay; the process is in Figure 2 Shown and referenced Figure 2 Describe it.

[0036] The multiple AVs include a first AV 110-1. In the first step 210, the first AV 110-1 is selected and instructed to retrieve the payload 120 from the starting point 130-1; this selection and instruction is performed by a control center 150 for managing the multiple AVs 110.

[0037] like Figure 2 As shown, in the next step 220, it is determined whether the first AV 110-1 is capable of delivering the retrieved payload 120 to the intended destination 130-2. In one example, step 220 is performed before or during the commencement of payload delivery by the first AV 110-1.

[0038] If it is determined that the first AV 110-1 is capable of delivering the payload from the origin 130-1 to the intended destination 130-2, then in step 230 the first AV 110-1 is instructed to do so.

[0039] However, if it is determined that the first AV 110-1 cannot deliver the payload from the origin 130-1 to the intended destination 130-2, process 200 continues to step 240. For example, because the travel range of the first AV 110-1 is less than the distance to the intended destination 130-2, the first AV 110-1 may not be able to deliver the payload 120 to the intended destination 130-2 in a single charge.

[0040] In step 240, processing is performed to determine an appropriate intermediate destination 140 within the travel range of the first AV 110-1 and to bring the payload closer to the intended destination 130-2.

[0041] Therefore, a first intermediate destination 140-1 is identified for the first AV 110-1, and in step 250, the first AV is instructed to perform the delivery of the payload from the origin 130-1 to the first intermediate destination 140-1.

[0042] In the next step 260, the successor (second) AV 110-2 is identified and instructed via wireless communication 160 to retrieve the payload 120 from the first intermediate destination 140-1.

[0043] Process 200 is then repeated to step 220, and the process continues to repeat until payload 120 is delivered to the intended destination 130-2.

[0044] In the first repetition of process 200, in step 220, it is determined whether the second AV 110-2 is capable of delivering the payload 120 from the first intermediate destination 140-1 to the intended destination 130-2 with a single charge; Figure 1 In the example, it was determined that the second AV 110-2 cannot do this.

[0045] Subsequently, in step 240, a second intermediate destination 140-2 is identified that the second AV 110-2 can reach, ensuring the payload remains closer to the intended destination 130-2. Therefore, the second AV 110-2 then proceeds to step 250 to deliver the payload to the second intermediate destination 140-2.

[0046] In the first repetition of step 260, the third AV 110-3 is identified and instructed to retrieve the payload 120 from the second intermediate destination 140-2, as delivered by the second AV 110-2.

[0047] In a manner corresponding to the first AV 110-1 and the second AV 110-2, and in a further repetition of process 200, the third AV 110-3 delivers the payload 120 to the third intermediate destination 140-3.

[0048] Similarly, in another repetition of process 200, at the third intermediate destination 140-3, the fourth AV 110-4 retrieves payload 120. As identified in step 220, the fourth AV 110-4 is determined to be capable of delivering the payload to the intended destination 130-2 on its own. Therefore, the fourth AV is instructed to deliver payload 10 to the intended destination 130-2, and process 200 can then be terminated.

[0049] Steps 220, 240 and / or 260 may be performed by the AV, i.e., in the current iteration of process 200, steps 220, 240 and / or 260 are selected to retrieve the payload; and / or the results of these processing steps are wirelessly transmitted (e.g., by means of a cellular wireless telecommunication network) by the control center 150 to the AV selected to retrieve the payload 120.

[0050] Wireless communication 160 is used to coordinate multiple AVs 110 in order to: identify the appropriate AV to retrieve the payload; transmit intermediate destinations to the AV; perform payload switching; and transmit information about the delivery of the payload, such as the intended destination 130-2 of the payload.

[0051] Figure 3 and Figure 4 A flowchart is shown of wireless communication 160 for identifying and instructing the delivery of AV-assisted payload 120 according to step 260 of process 200.

[0052] Figure 3 This is a flowchart illustrating a process 300 for transmitting wireless communication 160, wherein the wireless communication 160 is in the form of at least one device-to-device communication. Specifically, the device-to-device communication follows the LTEDirect protocol and uses a PC5 interface, for example, as part of a wireless telecommunications device (not shown) forming AV 110. In particular, the device-to-device communication conforms to 3GPP Technical Specification 23.285, Version 16, Version 16.2.0, particularly Section 4.2.1, the contents of which are incorporated herein by reference. In one example, the device-to-device communication is specifically in the form of cellular V2X communication, particularly cellular V2V communication.

[0053] In the first step of process 300, the first AV 110-1 broadcasts a request for another AV to assist in delivering advertising communications 160-1 of payload 120. The advertising communications are broadcast on a repetitive basis, for example, every 5 seconds.

[0054] The advertising communication 160-1 includes at least a first intermediate destination 140-1 and an intended destination 130-2.

[0055] Since the advertising communication 160-1 is in the form of device-to-device communication, the advertising communication 160-1 can be directly received by multiple AVs 110 (here, each AV is a "receiving AV"), wherein each receiving AV is within the receiving range of the first AV 110-1, including the second AV 110-2 (although at this point, the second AV 110-2 must also be identified as the AV that will follow the first AV in the delivery of the payload).

[0056] Upon receiving advertising communication 160-1 by receiving AV 110, each individual receiving AV performs processing to determine whether it is suitable to retrieve payload 120 from the first intermediate destination 140-1. For example, the receiving AV performs processing to identify whether: the first intermediate destination is too far from its current destination given the current travel range; the receiving AV is currently or will be available for delivery; and / or the advertising communication includes information such as whether the size and / or mass of payload 120 is too large for the receiving AV.

[0057] If the receiving AV determines that it is suitable to retrieve payload 120, then such a receiving AV responds to advertising communication 160-1 (here, each AV is a "response AV") via accept communication 160-2 to identify to the first AV 110-1 that it is capable of assisting in the delivery of the payload; this accept communication 160-2 is initiated by the second AV 110-2. If not, the receiving AV does not issue any response.

[0058] The first AV 110-1 directly receives and accepts communication 160-2, and then the first AV 110-1 stops broadcasting advertising communication 160-1.

[0059] Based on the accept communication 160-2 received by the first AV 110-1, the first AV 110-1 selects one of the responsive AVs (here, "the selected AV") to enable the first AV to successfully continue delivering the payload 120, and transmits the selection to the second AV via the selection communication 160-3.

[0060] exist Figure 3 In the example, each communication 160 is a device-to-device communication, thus enabling direct communication between multiple AVs 110 without requiring communication to traverse a cellular telecommunications network (including radio access point 155). Advantageously, this improves communication access and efficiency between AVs, particularly when the cellular telecommunications network is unavailable or unreliable, such as in remote areas, or when AVs cannot register with the cellular telecommunications network, for example, when roaming is not permitted.

[0061] Figure 4 This is a flowchart illustrating a process 400 of transmitting wireless communication 160, wherein communication 160 includes at least one modified system information message.

[0062] exist Figure 4 In the example, it was identified that the first AV 110-1 could not deliver payload 120 to its intended destination (according to...). Figure 2Step 220); this, or the information that leads to this conclusion, is transmitted from the first AV 110-1 to the first radio access point 155-1 via alarm communication 160-4. Alarm communication 160-4 is transmitted from the first AV 110-1 to the first radio access point 155-1 via a data bearer session. This is achieved assuming that the first AV 110-1 is within communication range of the first radio access point 155-1 and assuming that the first AV 110-1 is a subscriber to a first telecommunications network (not shown) associated with the first radio access point 155-1.

[0063] In response to alarm communication 160-4, first radio access point 155-1 broadcasts an advertising communication 160-1 requesting another AV to assist in delivering payload 120; the advertising communication 160-1 is in the form of a modified system information message.

[0064] System information messages are overhead communications used in cellular phones for configuring (but not necessarily establishing) communication between the radio access point 155 and the user equipment (UE) (such as AV 110). Thus, system information messages involve the physical layer of configuration communication and can be received and processed without the UE registering, registering with the cellular telecommunications network, and / or establishing a network data session with the cellular telecommunications network.

[0065] The modified system information message is a system information message that includes additional fields (which are understandable to multiple AV 110s) to inform of a request for assistance in delivering a payload and to facilitate such assistance. The modified system information message format of Ad Communication 160-1 can be used to include references... Figure 3 The description of the advertising communication 160-1 contains the same information. Thus, new fields are provided as part of the modified system information message to represent such information, and the AV is configured to correctly interpret these new fields. The modified system information message can be used to include modified Master Information Block (MIB) and / or modified System Information Block (SIB) messages, including any of types 1 to 13, such as those described in 3GPP Technical Specification 36.331, Version 15.4.0, Section 5.2.

[0066] Advertising communication 160-1 is received by receiving AV including second AV 110-2 within the receiving range of the first radio access point 155-1.

[0067] exist Figure 4In the example, only the first AV 110-1 is a subscriber to the telecommunications network exclusively associated with the first radio access point. The remaining AVs, including the second AV 110-2, are not subscribers to the first telecommunications network and therefore cannot establish data bearer sessions via the first radio access point 155-1. Therefore, the second AV 110-2 is allowed to receive and process advertising communications 160-1 from the first radio access point 155-1 in the form of a modified system information message, but the second AV 110-2 cannot access the first telecommunications network (as a non-subscriber of the first telecommunications network).

[0068] This provides a means of warning AV 110 to assist in delivery, which can warn AV 110 regardless of which telecommunications network they can access in their local vicinity.

[0069] Upon receiving advertising communication 160-1 by receiving AV 110, receiving AV performs processing to determine whether it is suitable for retrieving payload 120 from first intermediate destination 140-1, for example, according to reference Figure 3 The process described.

[0070] If the receiving AV determines that it is suitable to retrieve payload 120, then such receiving AV responds to advertising communication 160-1 using receiving communication 160-2 to identify itself as capable of assisting in the delivery of the payload; this receiving communication 160-2 is initiated by the second AV 110-2. If not, the receiving AV does not issue any response.

[0071] Since the second AV 110-2 is not a subscriber of the first telecommunications network, it cannot register with the first telecommunications network and therefore cannot send the receiving communication 160-2 via the first radio access point 155-1. Instead, the second AV is a subscriber of the second telecommunications network (not shown), and the second radio access point 155-2 is specifically associated with this subscriber. As a result, the second AV transmits the receiving communication 160-2 via the second telecommunications network and, in particular, via the second radio access point 155-2, through data-bearing session or radio resource control (RRC) messages.

[0072] Once the received communication 160-2 is received, the second telecommunications network will transmit the received communication 160-2 to the first telecommunications network. Figure 4 (not shown in the image), which causes the first radio access point 155-1 to stop broadcasting advertising communications 160-1.

[0073] The received communication 160-2 is transmitted via a second telecommunications network to an appropriate entity (such as control center 150 or first AV 110-1) to identify the selected AV. Figure 4In the example, the control center communicating with the second telecommunications network selects the second AV 110-2. To this end, the second telecommunications network transmits a selection message 160-3 to the selected AV (i.e., the second AV 110-2) via the second radio access point 155-2. This selection message 160-3 triggers the selected AV to assist in the delivery of the payload (i.e., the processing is performed as from step 260 of process 200).

[0074] refer to Figure 3 and Figure 4 The advertising communication 160-1 can also be used to include information, said information including:

[0075] • A unique identifier for the first AV 110-1, such as the International Mobile Equipment Identity (IMEI);

[0076] • The current geographical location of the first AV 110-1 (e.g., determined by GPS);

[0077] • The speed or rate of the first AV 110-1 and / or the expected time to reach the destination (i.e., the first intermediate destination);

[0078] • Information regarding the delivery of payload 120, including, for example:

[0079] The importance level or priority level of delivery (e.g., low priority delivery, such as for basic consumer goods, or high priority delivery, such as for blood transfusions);

[0080] • The route to the intended destination (e.g., the fastest or most energy-efficient route);

[0081] • Information regarding payload 120, including:

[0082] Size;

[0083] ο quality;

[0084] The orientation to be processed;

[0085] ο The fragility level of the payload;

[0086] The hazard level of the payload (e.g., containing toxic chemicals or explosives, such as in the case of fireworks); and / or

[0087] ο Whether the payload is multiple individual items, the number of these items (and any of the above information applicable to each such item) and / or the individual items to be recovered, if not all of them.

[0088] The information described above in advertising communication 160-1 can be used to identify the selected AV. In one example, process 200 can be used to override the current task of AV 110 (such as delivery or recharging) so that the AV is identified as the selected AV; this may be advantageous in cases where one delivery overrides another (such as for time-sensitive deliveries, including blood for transfusions).

[0089] Figure 3 and / or Figure 4 Shown and referenced Figure 3 and / or Figure 4 The described process can be performed by a subsequent AV 110 selected to retrieve the payload, for example, such that: in the first repetition of process 200, the role of the first AV 110-1 is replaced by the second AV 110-2, and the role of the second AV 110-2 can be replaced by the third AV 110-3; and in the second repetition of process 200, the role of the second AV 110-2 is replaced by the third AV 110-3, and the role of the third AV 110-3 can be replaced by the fourth AV 110-3.

[0090] Alternative options and modifications

[0091] exist Figure 1 In this example, AV 110 is shown as a so-called unmanned aerial vehicle (UAV). In another example, AV includes any type of autonomous or semi-autonomous vehicle, such as: ground vehicles (including hovercraft and underground vehicles); sea vehicles (including submarines); air vehicles (including spacecraft); and hybrid-powered vehicles.

[0092] In the above description, the appropriate intermediate destination 140 is within the travel range of the first AV 110-1 and brings the payload closer to the intended destination 130-2. However, in an alternative, the intermediate destination 140 may be used to move the payload further away from or not closer to the intended destination 130-2, but to provide a faster, safer, less congested, and / or less disruptive route to and / or from the intermediate destination 130-2.

[0093] In one example, wireless communication 160 is encrypted or includes encrypted data, making it accessible only to AVs that are registered or selected to assist in performing the aforementioned delivery process.

[0094] In one example, the middle position 140 can be predefined.

[0095] exist Figure 3 and Figure 4In the example, only a single AV (second AV 110-2) responds using receive communication 160-2. In the case of receiving multiple receive communications 160-2, the selected AV is identified based on: the first responder; the closest responder; and / or the responder most capable of delivering the payload to its intended destination. Therefore, receive communication 160-2 can also be used to include information about the responding AV regarding its current location, capabilities, and / or range of travel.

[0096] Reference Figure 4 In an alternative scheme, based on the fact that the first AV 110-1 is currently registered with the first radio access point 155-1, the first radio access point 155-1 (instead of any other radio access point of the first telecommunications network) is selected to broadcast advertising communications.

[0097] Each feature disclosed herein and (where appropriate) is provided independently or in any suitable combination as part of the claims and drawings.

[0098] Any reference numerals appearing in the claims are for illustrative purposes only and should not limit the scope of the claims.

Claims

1. A computer-implemented method for controlling an autonomous vehicle (AV) for delivering a payload to a intended delivery location, the method comprising the steps of: Identify a first AV for retrieving a payload from a first location, wherein the first AV is a subscriber of a first telecommunications network associated with a first radio access point; Determine that the first AV can travel from the first position to a second position together with the payload; Instruct the first AV to retrieve the payload from the first location and deliver the payload to the second location; A wireless communication request is broadcast from the first radio access point to another AV to assist in delivering the payload from the second location, wherein the wireless communication is in the form of a System Information Block (SIB) and / or a Master Information Block (MIB). In response to the wireless communication, a second AV for retrieving the payload from the second location is identified, wherein the second AV is not a subscriber of the first telecommunications network and cannot access the first telecommunications network, but the SIB and / or MIB allow the second AV, which is not registered with the first telecommunications network, to receive and process the wireless communication; and The second AV is instructed to retrieve the payload from the second location and deliver the payload to the intended delivery location.

2. The method according to claim 1, wherein, The wireless communication is transmitted via a radio access point of a cellular telecommunications network, and wherein the first AV registers with the radio access point.

3. The method according to claim 1, wherein, The wireless communication includes the second location and / or the expected delivery location.

4. The method according to claim 1, wherein, The second position is determined based on the maximum travel range of the first AV.

5. The method according to claim 1, further comprising the following steps: Retrieve capability information regarding the ability of the second AV to retrieve the payload and deliver the payload to the intended delivery location, and identify and / or instruct the second AV based on the capability information.

6. The method according to claim 1, wherein, The step of determining the second position is performed by the first AV.

7. The method according to claim 1, wherein, The steps of identifying and / or instructing the second AV to be performed by the first AV.

8. The method according to claim 1, wherein, The step of identifying the second AV also includes the following steps: The broadcast of the wireless communication; and In response to the wireless communication, a response is received from the second AV, wherein the second AV is identified based on the response.

9. The method according to claim 1, wherein, The second position is closer to the intended delivery position than the first position.

10. The method according to claim 1, wherein, The first AV carries one or more payloads to one or more intended delivery locations, and wherein a plurality of second AVs are identified and instructed to retrieve the one or more payloads and deliver the one or more payloads to the one or more intended delivery locations.

11. The method according to claim 1, wherein, The wireless communication includes a priority level for delivery, and the identification is performed according to the priority level.

12. The method according to claim 1, wherein, The first AV and / or the second AV are unmanned.

13. The method according to claim 1, wherein, The first AV and / or the second AV are air, sea and / or ground vehicles.

14. A storage medium carrying computer-readable code, the computer-readable code representing instructions that, when executed by at least one processor, cause the at least one processor to perform the method according to any one of claims 1 to 13.

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