System and method for transitioning between feature states of a vehicle

Abstract

The present disclosure provides a system and method for transitioning between feature states of a vehicle. A method includes initiating a state transition from a first state of a plurality of states to a second state of the plurality of states based on a message uniquely associated with the second state; processing a handshake protocol associated with the second state in response to the initiation of the state transition from the first state to the second state; and causing one or more vehicles to restore to the first state in response to an unsuccessful completion of the handshake protocol associated with the second state.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of and priority to U.S. Provisional Application No. 63 / 606,624, filed on December 6, 2023, and entitled “SYSTEM AND METHOD FOR TRANSITIONING BETWEEN FEATURE STATES OF AVEHICLE,” the contents of which are incorporated herein by reference in their entirety. Technical Field

[0003] The present disclosure relates to an automated process associated with an autonomous vehicle. More specifically, the present disclosure relates at least to identification and transition between one or more automated vehicle teaming (AVM) feature states associated with an autonomous vehicle. Background Art

[0004] The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.

[0005] Current standards such as ETSI and ISO do not adequately support interoperability within a marshaling environment without utilizing proprietary messages, AVM feature states, and / or backend cloud communications beyond marshaling components. Such an end-to-end design of a marshaling environment can be restrictive and complex to operate because the marshaling environment inherently has proprietary AVM feature states that need to be exchanged with backend support of the marshaling environment. The present disclosure addresses these and other issues related to low-speed automated processes associated with autonomous vehicles. Summary of the invention

[0006] This section provides a general summary of the disclosure and is not a comprehensive disclosure of its full scope or all of its features.

[0007] The present disclosure provides a method, which includes: initiating a state transition from a first state in a plurality of states to a second state in a plurality of states at one or more vehicles based on a message uniquely associated with the second state in a plurality of states, wherein the message is received from an infrastructure system; processing a handshake protocol associated with the second state by the one or more vehicles in response to the initiation of the state transition from the first state to the second state, and causing the one or more vehicles to revert to the first state in response to unsuccessful completion of the handshake protocol associated with the second state; wherein the plurality of states include an uninitiated state, a pre-boarding state, a boarding state, a marshaling state, an alighting state, and an exiting state; wherein an external handshake protocol varies based on each of the plurality of states, so that one or more characteristics of the external handshake protocol vary based on each of the plurality of states, and wherein processing the external handshake protocol includes: initiating one or more actions based on a message exchange between the infrastructure system and the one or more vehicles, wherein the one or more actions include verification of a wireless connection associated with the one or more vehicles, authentication of the message, verification of whether the one or more vehicles are within an operational design domain, or a combination thereof, and and wherein the one or more characteristics of the external handshake protocol include an inter-transmission time associated with the message, a tolerance threshold for the connection strength associated with the one or more vehicles, or a combination thereof; and wherein each of the multiple states is associated with a different message; the method further includes: causing the one or more vehicles to progress from the first state to the second state based on the successful completion of the handshake protocol associated with the second state; the method further includes: initiating a state transition from the second state to the third state among the multiple states at the one or more vehicles based on the progress to the second state and a message uniquely associated with the third state among the multiple states; processing the handshake protocol associated with the third state by the one or more vehicles in response to the initiation of the state transition from the second state to the third state, and causing the one or more vehicles to progress to the third state in response to the successful completion of the handshake protocol associated with the third state; and the method further includes: transmitting an alarm associated with the unsuccessful completion of the handshake protocol associated with the second state to the infrastructure system, wherein the transmission of the alarm is based on the one or more vehicles returning to the first state.

[0008] The present disclosure provides another method, which includes: initiating a state transition from a first state among a plurality of states to a second state at one or more vehicles based on a message uniquely associated with the second state among a plurality of states, wherein the message is received from an infrastructure system; processing a handshake protocol associated with the second state by the one or more vehicles in response to the initiation of the state transition from the first state to the second state, and causing the one or more vehicles to progress to the second state in response to successful completion of the handshake protocol associated with the second state; wherein the plurality of states include an uninitiated state, a pre-boarding state, a boarding state, a marshaling state, an alighting state, and an exiting state; wherein an external handshake protocol varies based on each of the plurality of states, so that one or more characteristics of the external handshake protocol vary based on each of the plurality of states, and wherein processing the external handshake protocol includes: initiating one or more actions based on a message exchange between the infrastructure system and the one or more vehicles, wherein the one or more actions include wireless connections associated with the one or more vehicles verification of the message, authentication of the message, verification of whether the one or more vehicles are within the operational design domain, or a combination thereof, and wherein the one or more characteristics of the external handshake protocol include an inter-transmission time associated with the message, a tolerance threshold of a connection strength associated with the one or more vehicles, or a combination thereof; wherein each of the multiple states is associated with a different message; the method further includes: causing the one or more vehicles to recover from the first state to the second state based on an unsuccessful completion of the handshake protocol associated with the second state; and the method further includes: initiating a state transition from the second state to the third state in the multiple states at the one or more vehicles based on the progress to the second state and a message uniquely associated with the third state in the multiple states; processing the handshake protocol associated with the third state by the one or more vehicles in response to the initiation of the state transition from the second state to the third state, and causing the one or more vehicles to progress to the third state in response to the successful completion of the handshake protocol associated with the third state.

[0009] The present disclosure provides a system, comprising: a vehicle system associated with one or more vehicles, the vehicle system being configured to: initiate a state transition from a first state to a second state among a plurality of states based on a message uniquely associated with the second state among the plurality of states, process a handshake protocol associated with the second state in response to the initiation of the state transition from the first state to the second state, and cause the one or more vehicles to revert to the first state in response to unsuccessful completion of the handshake protocol associated with the second state; and an infrastructure system, the infrastructure system being configured to: send the message to the vehicle system; wherein the plurality of states include an uninitiated state, a pre-boarding state, a boarding state, a marshaling state, an alighting state, and an exiting state; wherein an external handshake protocol varies based on each of the plurality of states, so that one or more characteristics of the external handshake protocol vary based on each of the plurality of states, and wherein the vehicle system associated with processing the external handshake protocol is further configured to: initiate one or more actions based on a message exchange between the infrastructure system and the one or more vehicles, wherein the one or more actions include verification of a wireless connection associated with the one or more vehicles, authentication of the message, calibration of whether the one or more vehicles are within an operational design domain, and verification of whether the one or more vehicles are within an operational design domain. a state transition from the second state to the third state in the plurality of states based on the progress to the second state and a message uniquely associated with the third state in the plurality of states; processing the handshake protocol associated with the third state by the one or more vehicles in response to the initiation of the state transition from the second state to the third state, and causing the one or more vehicles to progress to the third state in response to the successful completion of the handshake protocol associated with the third state; and wherein the vehicle system is further configured to transmit an alert associated with the unsuccessful completion of the handshake protocol associated with the second state to the infrastructure system, wherein the transmitting of the alert is based on the one or more vehicles reverting to the first state.

[0010] Further areas of applicability will become apparent from the description provided herein.It should be understood that the description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order that the present disclosure may be better understood, various forms of the present disclosure will now be described by way of example with reference to the accompanying drawings, in which:

[0012] Figure 1 A system for autonomous vehicle teaming according to various implementations is shown;

[0013] Figure 2A and Figure 2B shows a state transition machine according to various implementations;

[0014] Figure 3 is a flow chart illustrating an example method for transitioning one or more vehicles between multiple AVM feature states according to various implementations; and

[0015] Figure 4 is a flow chart illustrating another example method for transitioning one or more vehicles between the plurality of AVM feature states according to various implementations.

[0016] The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way. DETAILED DESCRIPTION

[0017] The following description is merely exemplary in nature and is not intended to limit the present disclosure, application, or uses.It should be understood that throughout the drawings, corresponding reference numerals indicate the same or corresponding parts and features.

[0018] The present disclosure provides a means for utilizing communications between an infrastructure system and one or more autonomous vehicles to support the functionality of adapting one or more AVM feature states associated with any of the autonomous vehicles. For example, a communication may be a message sent by an infrastructure system to any of the autonomous vehicles associated with a grouping of one or more autonomous vehicles (e.g., one or more infrastructure grouping messages (IMMs)). It should be understood that the term "grouping" may be used interchangeably with the term "manipulation", at least in the context of one or more autonomous vehicles being under active motion control. As another example, a communication may be a message sent by any of the one or more autonomous vehicles to an infrastructure system regarding a confirmation associated with a grouping and / or ranging connection of the autonomous vehicles (e.g., one or more vehicle grouping messages (VMMs)). As an additional example, one or more AVM feature states may generally include an uninitiated state, an enabled state, an operational state, and / or a disabled state. In addition, one or more examples of the present disclosure provide the ability to handle various (e.g., a wide range of) different conditions associated with an enabled state, an operational state, and / or a disabled state.

[0019] The present disclosure also provides interoperability between different original equipment manufacturers (OEMs) and suppliers for infrastructure-assisted vehicle marshaling use cases, including but not limited to: factory marshaling of autonomous vehicles through off-line calibration and / or parking; infrastructure-assisted valet parking in a parking lot; depot marshaling of autonomous vehicles within a warehouse depot for service, car washes, etc.; and / or infrastructure-assisted hands-free charging of autonomous vehicles.

[0020] Figure 1 A schematic block diagram illustration of an AVM system 100 is shown. In one or more examples, the AVM system 100 marshals one or more vehicles traveling at a slow speed. However, it should be understood that the AVM system 100 can marshal one or more vehicles traveling at any speed. It should also be understood that the AVM system 100 can marshal semi-autonomous vehicles and / or fully autonomous vehicles.

[0021] The AVM system 100 generally includes a vehicle manufacturing cloud system 102, a vehicle delivery manager cloud system 104, a vehicle customer web portal account cloud system 106, an infrastructure system 108, and an autonomous vehicle 110. The vehicle manufacturing cloud system 102 operates as a central cloud system that manages and / or facilitates any manufacturing processes associated with the autonomous vehicle 110. The vehicle manufacturing cloud system 102 communicates wirelessly with the vehicle delivery manager cloud system 104 and the infrastructure system 108. The vehicle manufacturing cloud system 102 also communicates wirelessly directly with the autonomous vehicle 110.

[0022] The vehicle manufacturing cloud system 102 includes an AVM algorithm 112a. The AVM algorithm 112a processes state information associated with at least one of the one or more autonomous vehicles, the autonomous vehicle 110. It should be understood that the AVM algorithm 112a processes state information associated with each of the one or more autonomous vehicles (e.g., the autonomous vehicle 110). The vehicle manufacturing cloud system 102 is configured to enable the infrastructure system 108 to monitor the progress of the autonomous vehicle as the one or more autonomous vehicles (e.g., the autonomous vehicle 110) progress through, for example, a factory floor or a parking lot. The vehicle manufacturing cloud system 102 is also configured to enable the infrastructure system 108 to communicate with the one or more autonomous vehicles. For example, the vehicle manufacturing cloud system 102 utilizes the AVM algorithm 112a to send instructions to the infrastructure system 108 and / or process information received from the infrastructure system 108. The vehicle manufacturing cloud system 102 is configured to enable the vehicle delivery manager cloud system 104 to facilitate the delivery of one or more autonomous vehicles (e.g., the autonomous vehicle 110) to various locations. For example, the vehicle manufacturing cloud system 102 utilizes the AVM algorithm 112 a to send instructions to the vehicle delivery manager cloud system 104 and / or process information received from the vehicle delivery manager cloud system 104 .

[0023] The vehicle manufacturing cloud system 102 is also configured to start, stop, or pause one or more autonomous vehicles to advance through, for example, a factory floor or a parking lot. The vehicle manufacturing cloud system 102 is further configured to control the speed of the one or more autonomous vehicles as the one or more autonomous vehicles pass through, for example, a factory floor or a parking lot. In some examples, the vehicle manufacturing cloud system 102 utilizes the AVM algorithm 112a to send instructions to the autonomous vehicle 110 and / or process information received from the autonomous vehicle 110.

[0024] The infrastructure system 108 includes an AVM algorithm 112b, one or more sensors 114, and a sensor component 116. The sensor component 116 provides communication between one or more infrastructures and one or more autonomous vehicles. For example, the sensor component 116 may utilize GPS, Wi-Fi, satellite, 3G / 4G / 5G, and / or Bluetooth. TMTo communicate with one or more autonomous vehicles. The sensor component 116 also communicates with one or more sensors 114 (such as, for example, one or more of a camera, a lidar, a radar, and / or an ultrasonic device). When one or more autonomous vehicles pass through, for example, a factory floor or a parking lot, one or more sensors 114 monitor the movement of the autonomous vehicles. As an example, the infrastructure system 108 utilizes the AVM algorithm 112b to process information and send the information to the vehicle manufacturing cloud system 102 and / or process the information received from the vehicle manufacturing cloud system 102. As another example, the infrastructure system 108 utilizes the AVM algorithm 112b to process information and directly send the information to the autonomous vehicle 110 and / or process the information received from the autonomous vehicle 110. It should be understood that the infrastructure system 108 can forward instructions received from the vehicle manufacturing cloud system 102 to the autonomous vehicle 110. However, it should also be understood that the infrastructure system 108 can send instructions to the autonomous vehicle 110.

[0025] The autonomous vehicle 110 includes an AVM algorithm 112c, a wireless transmission module 118, a vehicle central gateway module 120, a vehicle infotainment system 122, one or more vehicle sensors 124, a vehicle battery 126, a vehicle global navigation satellite system (GNSS) 128, a vehicle navigation map 134, vehicle exterior lights 136, vehicle exterior audio 130, and a vehicle CAN bus 132. The wireless transmission module 118 may be a transmission control unit. The wireless transmission module 118 includes one or more sensors configured to collect data and send signals to other components of the autonomous vehicle 110. The one or more sensors of the wireless transmission module 118 may include a vehicle speed sensor (not shown) configured to determine the current speed of the autonomous vehicle 110; a wheel speed sensor (not shown) configured to determine whether the autonomous vehicle 110 is traveling uphill or downhill; a throttle position sensor (not shown) that determines whether a downshift or upshift of one or more gears associated with the autonomous vehicle 110 is required in the current state of the autonomous vehicle 110; and / or a turbine speed sensor (not shown) configured to transmit data associated with the speed of the torque converter of the autonomous vehicle 110. The wireless transmission module 118 transmits information collected by the one or more sensors to the AVM algorithm 112c. For example, the autonomous vehicle 110 utilizes the AVM algorithm 112c to process the information collected by the one or more sensors and transmits the information to the infrastructure system 108. As another example, the autonomous vehicle 110 utilizes the AVM algorithm 112c to process the information collected by the one or more sensors and transmits the information directly to the vehicle manufacturing cloud system 102. The AVM algorithm 112 c is configured to transmit information and / or instructions received from the infrastructure system 108 and / or the vehicle manufacturing cloud system 102 to the wireless transmission module 118 .

[0026] The vehicle central gateway module 120 operates as an interface between various vehicle domain bus systems, such as an engine compartment bus (not shown), an internal bus (not shown), an optical bus for multimedia (not shown), a diagnostic bus for maintenance (not shown), or a vehicle CAN bus 132. The vehicle central gateway module 120 is configured to distribute data transmitted to the vehicle central gateway module 120 by each of the various domain bus systems to other components of the autonomous vehicle 110. The vehicle central gateway module 120 is also configured to distribute information received from the AVM algorithm 112c to the various domain bus systems. The vehicle central gateway module 120 is further configured to send information received from various domain bus systems to the AVM algorithm 112c. For example, the autonomous vehicle 110 utilizes the AVM algorithm 112c to process the information received from the vehicle central gateway module 120 and sends the information to the infrastructure system 108. As another example, the autonomous vehicle 110 utilizes the AVM algorithm 112c to process the information received from the vehicle central gateway module 120 and sends the information directly to the vehicle manufacturing cloud system 102. The AVM algorithm 112 c is configured to transmit information and / or instructions received from the infrastructure system 108 and / or the vehicle manufacturing cloud system 102 to the vehicle central gateway module 120 .

[0027] The vehicle infotainment system 122 is a system that delivers a combination of information and entertainment content and / or services to the operator 148 of the autonomous vehicle 110. It should be understood that in some examples, the vehicle infotainment system 122 can deliver entertainment content to the operator 148 of the autonomous vehicle 110. It should also be understood that in some examples, the vehicle infotainment system 122 can deliver information services to the operator 148 of the autonomous vehicle 110. In one or more examples, the vehicle infotainment system 122 includes a built-in car computer that combines one or more functions (such as digital radio, built-in camera and / or television). The vehicle infotainment system 122 transmits information associated with the built-in car computer or processor to the AVM algorithm 112c. For example, the autonomous vehicle 110 utilizes the AVM algorithm 112c to process the information received from the vehicle infotainment system 122 and sends the information to the infrastructure system 108. As another example, the autonomous vehicle 110 utilizes the AVM algorithm 112c to process the information received from the vehicle infotainment system 122 and sends the information directly to the vehicle manufacturing cloud system 102. The AVM algorithm 112 c is configured to transmit information and / or instructions received from the infrastructure system 108 and / or the vehicle manufacturing cloud system 102 to the vehicle infotainment system 122 .

[0028] The one or more vehicle sensors 124 may be, for example, one or more of a camera, a lidar, a radar, and / or an ultrasonic device. For example, an ultrasonic device used as one or more vehicle sensors 124 emits high-frequency sound waves that hit an object (e.g., a wall or another vehicle) and are then reflected back to the autonomous vehicle 110. Based on the amount of time it takes for the sound waves to return to the autonomous vehicle 110, the autonomous vehicle 110 may determine the distance between the one or more vehicle sensors 124 and the object. As another example, a camera device used as one or more vehicle sensors 124 provides a visual indication of the space around the autonomous vehicle 110. As an additional example, a radar device used as one or more vehicle sensors 124 emits an electromagnetic wave signal that hits an object and is then reflected back to the autonomous vehicle 110. Based on the amount of time it takes for the electromagnetic wave to return to the autonomous vehicle 110, the autonomous vehicle 110 may determine the range, speed, and angle of the autonomous vehicle 110 relative to the object.

[0029] The one or more vehicle sensors 124 transmit information associated with the position and / or distance of the autonomous vehicle 110 relative to the object to the AVM algorithm 112c. For example, the vehicle 110 utilizes the AVM algorithm 112c to process the information received from the one or more vehicle sensors 124 and transmits the information to the infrastructure system 108. As another example, the autonomous vehicle 110 utilizes the AVM algorithm 112c to process the information received from the one or more vehicle sensors 124 and transmits the information to the vehicle manufacturing cloud system 102. The AVM algorithm 112c is configured to transmit information and / or instructions received from the infrastructure system 108 and / or the vehicle manufacturing cloud system 102 to the one or more vehicle sensors 124.

[0030] The vehicle battery 126 is controlled by a battery management system (not shown) that provides instructions to the vehicle battery 126. For example, the battery management system provides instructions to the vehicle battery 126 based on the temperature of the vehicle battery 126. The battery management system ensures that the current mode of the vehicle battery 126 is acceptable. For example, the acceptable current mode prevents overvoltage, overcharging, and / or overheating of the vehicle battery 126. As another example, the temperature of the vehicle battery 126 indicates to the battery management system whether any of the acceptable current modes is within an acceptable temperature range. The battery management system associated with the vehicle battery 126 transmits information associated with the temperature of the vehicle battery 126 to the AVM algorithm 112c. For example, the autonomous vehicle 110 utilizes the AVM algorithm 112c to process the received information about the vehicle battery 126 and sends the information to the infrastructure system 108. As another example, the autonomous vehicle 110 utilizes the AVM algorithm 112c to process the information about the vehicle battery 126 and sends the information directly to the vehicle manufacturing cloud system 102. The AVM algorithm 112 c is configured to transmit information and / or instructions received from the infrastructure system 108 and / or the vehicle manufacturing cloud system 102 to the vehicle battery 126 .

[0031] The vehicle GNSS 128 is configured to communicate with satellites so that the autonomous vehicle 110 can determine the specific location of the autonomous vehicle 110. The vehicle navigation map 134 can display the specific location of the autonomous vehicle 110 to the operator 148 via a display screen (not shown). The vehicle GNSS 128 transmits geographic information associated with the autonomous vehicle 110 to the AVM algorithm 112c. For example, the autonomous vehicle 110 utilizes the AVM algorithm 112c to process information received from the vehicle GNSS 128 and sends the information to the infrastructure system 108. As another example, the autonomous vehicle 110 utilizes the AVM algorithm 112c to process information from the vehicle GNSS 128 and sends the information directly to the vehicle manufacturing cloud system 102. The AVM algorithm 112c is configured to transmit information and / or instructions received from the infrastructure system 108 and / or the vehicle manufacturing cloud system 102 to the vehicle GNSS 128. As another example, the autonomous vehicle 110 utilizes the AVM algorithm 112c to process information associated with the vehicle navigation map 134 and sends the information to the infrastructure system 108. As another example, the autonomous vehicle 110 utilizes the AVM algorithm 112c to process information from the vehicle navigation map 134 and send the information directly to the vehicle manufacturing cloud system 102. The AVM algorithm 112c is configured to transmit information and / or instructions received from the infrastructure system 108 and / or the vehicle manufacturing cloud system 102 to the vehicle navigation map 134.

[0032] The vehicle exterior lights 136 may include one or more lights embedded around the perimeter of the autonomous vehicle 110. For example, the vehicle exterior lights 136 include, but are not limited to, low beam headlamps, high beam headlamps, parking lights, daytime running lights, fog lights, signal lights, side marker lights, cab lights, tail lights, rear end lights, and / or reverse lights. The vehicle exterior lights 136 are configured to automatically turn on and off based on external weather conditions. The vehicle exterior lights 136 are also configured to automatically turn on and off based on the brightness of light adjacent to the autonomous vehicle 110 (such as sunlight, artificial light, and / or the absence of light and / or the reduction of light). The vehicle exterior lights 136 are further configured to be manually turned on and off by the operator 148. In addition, the vehicle exterior lights 136 are configured to turn on and off in a certain pattern to provide visual notifications or information, such as indicating one or more faults. For example, the one or more faults include errors associated with: pre-boarding status, boarding status, AVM feature activation, vehicle key detection, flashing sequence, vehicle GNSS time synchronization, boarding readiness check, vehicle safety authentication, exit status, wireless connection between autonomous vehicle 110 and roadside unit (RSU), wireless connection between autonomous vehicle 110 and infrastructure system 108, cellular signal of marshaling status, activation of CV2X-PC5 congestion status, expiration of one or more vehicle safety authentications, occurrence of waiting delays between wireless messages, and interruption of wireless connection between one or more autonomous vehicles 110 and the server. Autonomous vehicle 110 transmits one or more instructions to vehicle exterior lights 136 based on AVM algorithm 112c. For example, autonomous vehicle 110 transmits one or more instructions received from infrastructure system 108 to vehicle exterior lights 136. As another example, autonomous vehicle 110 transmits one or more instructions received directly from vehicle manufacturing cloud system 102 to vehicle exterior lights 136.

[0033] The vehicle external audio 130 may include a horn of the autonomous vehicle 110 configured to sound when manually operated by the operator 148. The vehicle external audio 130 is also configured to turn on and off the sounding in a certain pattern to provide an audible notification of information, such as indicating one or more faults. For example, the one or more faults include errors associated with the following: pre-boarding status, boarding status, AVM feature activation, vehicle key detection, horn sequence, vehicle GNSS time synchronization, boarding readiness check, vehicle safety authentication, exit status, wireless connection between the autonomous vehicle 110 and the roadside unit (RSU), wireless connection between the autonomous vehicle 110 and the infrastructure system 108, cellular signal of the marshaling status, activation of the CV2X-PC5 congestion status, expiration of one or more vehicle safety authentications, occurrence of waiting delays between wireless messages, and interruption of the wireless connection between one or more autonomous vehicles 110 and the server. The autonomous vehicle 110 transmits one or more instructions to the vehicle external audio 130 based on the AVM algorithm 112c. For example, the autonomous vehicle 110 transmits one or more instructions received from the infrastructure system 108 to the vehicle exterior audio 130. As another example, the autonomous vehicle 110 transmits one or more instructions received directly from the vehicle manufacturing cloud system 102 to the vehicle exterior audio 130.

[0034] The delivery manager cloud system 104 wirelessly communicates (e.g., receives and / or sends instructions and / or information) with one or more of the rental agency cloud system 138, the valet parking agency cloud system 140, the insurance agency cloud system 142, and / or the dealership 144. For example, the delivery manager cloud system 104 can facilitate the delivery of one or more autonomous vehicles to any of the rental agency cloud system 138, the valet parking agency cloud system 140, the insurance agency cloud system 142, and / or the dealership 144. The delivery manager cloud system 104 also wirelessly communicates with the vehicle customer web portal account cloud system 106. It should be understood that in one or more examples, other cloud systems may be included.

[0035] The delivery manager cloud system 104 communicates wirelessly with a user device 146, such as a mobile device, display panel, and / or computer. The autonomous vehicle 110 also communicates wirelessly directly with the user device 146. For example, the operator 148 interfaces with the user device 146 via an application that organizes any information and / or instructions received from the vehicle customer web portal account cloud system 106 and / or the autonomous vehicle 110. As another example, the operator 148 may send one or more instructions to the vehicle customer web portal account cloud system 106, such as selecting which vehicle the operator 148 wants to receive from any of a rental agency (not shown) associated with the rental agency cloud system 138, a valet parking agency (not shown) associated with the valet parking agency cloud system 140, an insurance agency (not shown) associated with the insurance agency cloud system 142, and / or a dealer 144.

[0036] Figure 2A and Figure 2B A schematic illustration of a state transition machine (e.g., state processing device) and a path 200 showing AVM feature state identification and transitions between such AVM feature states is depicted. The state transition machine generally includes a feature enablement phase 202, a feature operation phase 204, and a feature deactivation phase 206. A pre-boarding state 208 is included as part of the feature enablement phase 202. The feature operation 204 phase includes a boarding state 210, an alighting state 212, and a marshaling state 214. An exiting state 216 is included as part of the feature deactivation phase 206. Additionally, an uninitiated state 218 is not included in any of the feature enablement phase 202, the feature operation phase 204, or the feature deactivation phase 206.

[0037] It should be understood that any additional states may be added to the state transition machine 200, and any of the states in the plurality of states may be removed from the state transition machine 200. It should be further understood that the naming associated with each of the states in the plurality of states (e.g., pre-boarding state 208, boarding state 210, disembarking state 212, marshaling state 214, disembarking state 218, and uninitiated state 218) is descriptive in nature, wherein any of the states in the plurality of states may be referred to by any other terminology. It should also be understood that, generally, within the state transition machine 200, motion control (e.g., state transition control) may occur between the plurality of states to configure and verify that subsystems associated with the state transition machine 200 are properly operating, sufficiently authenticated, and ready to proceed to the next state or toward successful termination of a communication session.

[0038] Generally, and as will be described in further detail below, state transition machine 200 is associated with each AVM facility infrastructure (e.g., infrastructure system 108) and / or each autonomous vehicle (e.g., autonomous vehicle 110). In addition, whenever there is an error in the operation of state transition machine 200, the current AVM feature state reverts to the previous AVM feature state. In addition, each AVM feature state included in state transition machine 200 is maintained by the infrastructure system and autonomous vehicle pairing. Furthermore, the wireless handshake protocol (e.g., inter-transmission time, message flow, etc.) can be different in each AVM feature state by utilizing two messages (e.g., IIM messages and VMM messages). For example, if Figure 2A and Figure 2B As depicted, the handshake protocol may include a looping process associated with each characteristic state.

[0039] More specifically, the uninitiated state 218 is a default state in which the automated vehicle system and the infrastructure system 108 associated with each of the one or more autonomous vehicles 110 are both in an inactive state for the respective autonomous vehicle 110. However, it should be understood that the automated vehicle system and the infrastructure system 108 associated with each of the one or more autonomous vehicles 110 may both be in an inactive state for each of the one or more autonomous vehicles 110. The pre-boarding state 208 is a state in which the infrastructure system 108 and the autonomous vehicle 110 perform an enabling process for one or more respective automated vehicle marshaling (AVM) features. The boarding state 210 is a state in which the infrastructure system 108 may gain control of the one or more respective autonomous vehicles 110 when the infrastructure system 108 and the autonomous vehicle 110 complete the necessary authorization activities (e.g., a flash code sequence) as part of the vehicle identification process, after which the infrastructure system 108 controls the autonomous vehicle 110 and begins marshaling the one or more respective autonomous vehicles 110.

[0040] The marshaling state 214 is a state in which the infrastructure system 108 controls the autonomous vehicles 110 so that the infrastructure system 108 can autonomously marshal the autonomous vehicles 110 to perform certain actions, while the autonomous vehicles 110 transmit confirmations associated with the marshaling process back to the infrastructure system 108 via both high data rates and low data rates associated with one or more wireless communications. The marshaling state 214 can also provide for the disengagement of the autonomous vehicles 110 from the infrastructure system 108 due to certain actions within certain time periods when the autonomous vehicles 110 are stationary and not actively marshaled (e.g., a keep-alive state). The disembarkation state 212 is a state in which the autonomous vehicles 110 perform a temporary disembarkation process from the current active marshaling of the autonomous vehicles 110 based on instructions from the infrastructure system 108 (e.g., a non-keep-alive state) and / or human intervention. It should be understood that the execution of the temporary disembarkation process may also be based on, for example: the autonomous vehicle 110 leaves the AVM geo-fenced operational design domain (ODD) for a particular activity; the autonomous vehicle 110 is required to perform a power cycle; or any other instruction-based action that the autonomous vehicle 110 may be caused to perform. As an example, once the autonomous vehicle 110 switches to the disembarkation state, one or more wireless communications between the autonomous vehicle 110 and the infrastructure system 108 cease. The disembarkation state 218 is a state in which the infrastructure system 108 and the autonomous vehicle 110 perform a deactivation process of one or more corresponding AVM features. For example, the autonomous vehicle 110 will undergo a deactivation process at the end destination, and in this case, the infrastructure system 108 will no longer control the autonomous vehicle 110 from the corresponding ODD area. For example, when the autonomous vehicle 110 completes the deauthorization activity with the AVM server and stops marshaling, the disembarkation state 216 is enabled.

[0041] In some examples, each of the multiple states is associated with a different input. For example, and as discussed above, the input is included in a handshake protocol unique to each of the multiple states. In other words, each of the multiple states can correspond to a different handshake protocol. The input associated with the uninitiated state 218 includes receiving a trigger from the infrastructure system 108 by one or more corresponding autonomous vehicles 110. For example, the trigger can be a request to add one or more corresponding autonomous vehicles 110 to the AVM geofence ODD. The input associated with the pre-boarding state 208 includes an instance in which the infrastructure system 108 is converted to the pre-boarding state 208. For example, when the infrastructure system 108 is converted to the pre-boarding state 208, the infrastructure system 108 sends an IMM to one or more autonomous vehicles 110 to initiate the pre-boarding process. As another example, one or more autonomous vehicles 110 confirm the IMM received from the infrastructure system 108 by sending a VMM to the infrastructure system 108.

[0042] In some examples, the input associated with the onboarding state 210 includes an instance in which the infrastructure system 108 transitions to the onboarding state 210. For example, when the infrastructure system 108 transitions to the onboarding state 210, the infrastructure system 108 sends an IMM to the one or more autonomous vehicles 110 to initiate the onboarding process. As another example, when both the infrastructure system 108 and the autonomous vehicle 110 have successfully completed the handshake protocol associated with the pre-onboarding state 208 and have transitioned via the next state transition step associated with the pre-onboarding state 208, the one or more autonomous vehicles 110 acknowledge the IMM received from the infrastructure system 108 by sending a VMM to the infrastructure system 108.

[0043] In some examples, the input associated with the forming state 214 includes an instance in which the infrastructure system 108 transitions to the forming state 214. For example, when the infrastructure system 108 transitions to the forming state 214, the infrastructure system 108 sends an IMM to the one or more autonomous vehicles 110 to initiate the forming process. As another example, when both the infrastructure system 108 and the one or more autonomous vehicles 110 have successfully completed the handshake protocol associated with the boarding state 210 and have transitioned via the next state transition step associated with the boarding state 210, the one or more autonomous vehicles 110 acknowledge the IMM received from the infrastructure system 108 by sending a VMM to the infrastructure system 108. As yet another example, the infrastructure system 108 may trigger the one or more autonomous vehicles to transition from the forming state 214 to another state of the plurality of states to maintain a keep-alive state.

[0044] In some examples, inputs associated with the disembarkation state 212 include instances in which the infrastructure system 108 transitions to the disembarkation state 212. For example, when the infrastructure system 108 transitions to the disembarkation state 212, the infrastructure system 108 sends an IMM to the one or more autonomous vehicles 110 to initiate the disembarkation process. As another example, when both the infrastructure system 108 and the one or more autonomous vehicles 110 have successfully completed the handshake protocol associated with the formation state 214 and have transitioned via the next state transition step associated with the formation state 214, the one or more autonomous vehicles 110 acknowledge the IMM received from the infrastructure system 108 by sending a VMM to the infrastructure system 108. Inputs associated with the exit state 218 include instances in which the infrastructure system 108 transitions to the exit state 218. For example, when the infrastructure system 108 transitions to the exit state 218, the infrastructure system 108 sends an IMM to the one or more autonomous vehicles 110 to initiate the exit process. As another example, when both the infrastructure system 108 and the one or more autonomous vehicles 110 have successfully completed the handshake protocol associated with the formation state 214 and have transitioned via the next state transition step associated with the formation state 214, the one or more autonomous vehicles 110 acknowledge the IMM received from the infrastructure system 108 by sending a VMM to the infrastructure system 108.

[0045] The handshake protocol (e.g., a loop process) associated with uninitiated state 218 includes infrastructure system 108 exchanging information with one or more autonomous vehicles 110. As a non-limiting example, the information may include configuration and / or identification parameters of autonomous vehicle 110. However, it should be understood that the information may relate to any information associated with one or more autonomous vehicles 110. The handshake protocol associated with uninitiated state 218 also includes verification of whether infrastructure system 108 and / or one or more autonomous vehicles 110 have specific software installed on their respective systems.

[0046] In some examples, the handshake protocol associated with the pre-boarding state 208 includes completing a wireless communication interface check between one or more autonomous vehicles 110 and the infrastructure system 108. The handshake protocol associated with the pre-boarding state 208 also includes completing a security authentication check required for the wireless communication interface for both the one or more autonomous vehicles 110 and the infrastructure system 108. The handshake protocol associated with the pre-boarding state 208 also includes completing a check-in sequence on the one or more autonomous vehicles 110 and the infrastructure system 108. For example, the check-in sequence includes completing an autonomous vehicle status and / or fault check. As another example, the check-in sequence also includes completing an infrastructure status and / or fault check for one or more corresponding autonomous vehicles 110. The handshake protocol associated with the pre-boarding state 208 additionally includes an exchange of vehicle identifiers used by both the one or more autonomous vehicles 110 and the infrastructure system 108.

[0047] In some examples, the handshake protocol associated with the boarding state 210 includes completing a blink code sequence. In other words, when one or more autonomous vehicles 110 are in a designated drop-off area, autonomous vehicle identification authorization for controlling one or more corresponding autonomous vehicles 110 is completed by the infrastructure system 108 by exchanging IMMs and / or VMMs (e.g., between the infrastructure system 108 and the one or more autonomous vehicles 110). For example, the blink code sequence includes completing a handover sequence. As another example, the blink code sequence also includes completing a task assignment sequence. The handshake protocol associated with the boarding state 210 also includes instances in which one or more autonomous vehicles 110 notify the infrastructure system 108 of the one or more autonomous vehicles 110 (e.g., via a VMM) and / or in which the infrastructure system 108 is able to identify and / or detect the one or more autonomous vehicles 110 and sends a request to the autonomous vehicle 110 (e.g., via an IMM) for confirmation. For example, one or more autonomous vehicles 110 may send a confirmation of the request received from the infrastructure system 108 via the VMM. As another example, the confirmation may also be associated with information regarding: whether autonomous vehicle doors and / or windows are locked (e.g., when autonomous vehicle 110 is in a stationary position); locations where there are no people and / or animals in one or more autonomous vehicles 110; vehicle properties associated with one or more autonomous vehicles 110; whether there is any human intervention associated with autonomous vehicle 110; whether the destination and / or route sequence is complete; or a combination thereof.

[0048] In some examples, the handshake protocol associated with the formation state 214 includes instances in which infrastructure system 108 has control of the respective autonomous vehicles 110 and instructs one or more autonomous vehicles 110 via the IMM and / or VMM at a high data rate to drive, pause, and / or form a state from a first point (e.g., station-1 / point-A) to a second point (e.g., station-2 / point-B), etc. For example, when an obstacle blocks the path of autonomous vehicle 110 and / or when one or more autonomous vehicles 110 approach a facility-defined stopping location (e.g., an intersection), infrastructure system 108 instructs one or more autonomous vehicles 110 to transition from driving to pause. As another example, when an obstacle that previously blocked the path of autonomous vehicle 110 no longer exists and / or when the intersection is clear for progress, infrastructure system 108 instructs autonomous vehicle 110 to transition from pause to driving. As an additional example, infrastructure system 108 is capable of communicating with one or more autonomous vehicles 110 via IMMs and / or VMMs at a low data rate (e.g., via exchanging IMMs and / or VMMs every 1 or 2 second intervals) (e.g., in instances where infrastructure system 108 has control of one or more respective autonomous vehicles 110). The handshake protocol associated with formation state 214 also includes instances where a human intervenes during formation state 214, at which point VMMs are sent at a higher data rate while one or more autonomous vehicles 110 are still in formation state 212.

[0049] In some examples, the handshake protocol associated with disembarkation state 212 includes an instance in which one or more autonomous vehicles 110 perform an action (such as an ignition-off action as indicated by infrastructure system 108 (e.g., via an IMM)) when one or more autonomous vehicles 110 are in an AVM area. However, it should be understood that disembarkation state 212 includes an instance in which one or more autonomous vehicles 110 perform an action (such as an ignition-off action as indicated by infrastructure system 108 (e.g., via an IMM)) when autonomous vehicles 110 are not in an AVM area or leave an AVM area. For example, disembarkation state 212 varies based on use cases in which one or more autonomous vehicles 110 leave a geo-fenced ODD area to perform various actions for autonomous vehicles 110. The handshake protocol associated with the disembarkation state 212 also includes instances in which one or more autonomous vehicles 110 notify infrastructure system 108 (e.g., via the VMM) about one or more autonomous vehicles 110 and / or in the case where infrastructure system 108 is able to identify and / or detect one or more autonomous vehicles 110 and sends a request to one or more autonomous vehicles 110 (e.g., via the IMM) for confirmation. For example, one or more autonomous vehicles 110 may send a confirmation of the request received from infrastructure system 108 via the VMM. As another example, the confirmation may also be associated with information about whether there is any human intervention and / or temporary departure associated with one or more autonomous vehicles 110 (e.g., a disruption in connectivity between infrastructure system 108 and one or more autonomous vehicles 110). The handshake protocol associated with the disembarkation state 212 state also includes instances in which there is no keep-alive wireless communication (e.g., no IMM-VMM communication is exchanged between infrastructure system 108 and one or more autonomous vehicles 110). For example, after an instance in which infrastructure system 108 and one or more autonomous vehicles 110 have transitioned to disengaged state 212, it should be understood that, after certain messages are exchanged, infrastructure system 108 will be unable to control one or more autonomous vehicles 110. As another example, after an instance in which infrastructure system 108 and one or more autonomous vehicles 110 have transitioned to disengaged state 212, infrastructure system 108 records one or more corresponding autonomous vehicle 110 states in an infrastructure database (not shown).

[0050] In some examples, the handshake protocol associated with the off-vehicle state 218 includes an instance in which a sign-out sequence on one or more autonomous vehicles 110 and / or infrastructure system 108 has been completed (i.e., where a sign-out sequence on one or more autonomous vehicles 110 and / or infrastructure system 108 is triggered). The handshake protocol associated with the off-vehicle state 218 also includes an instance in which infrastructure system 108 revokes system authorization of one or more autonomous vehicles 110.

[0051] As another example, in some examples, successful completion of the handshake protocol is indicated by a next state transition step. As another example, in some examples, unsuccessful completion of the handshake protocol is indicated by an error state transition step.

[0052] Each of the multiple states is associated with a different output. For example, the output is included in a handshake protocol that is unique to each of the multiple states. As another example, the output itself may include any one of a next state transition step and / or an error state transition step. The next state transition step of the uninitiated state 218 includes an instance in which the infrastructure system 108 sends a trigger transition message to the pre-boarding state 208 to one or more corresponding autonomous vehicles 110. The next state transition step of the uninitiated state 218 also includes an instance in which the infrastructure system 108 switches the state for handling one or more corresponding autonomous vehicles 110 to the pre-boarding state 208. The error state transition step of the uninitiated state 218 includes an instance in which the infrastructure system 108 notifies the automated vehicle cloud backend and / or the system operator that an error state associated with the infrastructure system 108 and / or one or more automated vehicles 110 occurs. For example, the error state includes, but is not limited to, an insufficient autonomous vehicle configuration, identification parameters, or a combination thereof.

[0053] In some examples, the next state transition step of the pre-boarding state 208 includes an instance in which the infrastructure system 108 sends a trigger transition message to one or more respective vehicles 110 that initiates a start trigger action associated with the boarding state 210. The next state transition step of the pre-boarding state 208 also includes an instance in which the infrastructure system 108 switches the state for handling for the one or more respective autonomous vehicles 110 to the boarding state 210 (e.g., via an IMM and / or VMM exchange when the handshake protocol associated with the pre-boarding state 208 has been completed). The error state transition step of the pre-boarding state 208 includes an instance in which the infrastructure system 108 is unable to complete the handshake protocol associated with the pre-boarding state 208. The error state transition step of the pre-boarding state 208 also includes an instance in which the one or more autonomous vehicles 110 are unable to complete the pre-boarding process. In both instances of the error state transition step, the infrastructure system 108 and / or the one or more autonomous vehicles 110 notify the system operator and / or the cloud backend and cause the infrastructure system 108 and the one or more autonomous vehicles 110 to transition back to the uninitiated state 218.

[0054] In some examples, the next state transition step of boarding state 210 includes an instance in which infrastructure system 108 sends a trigger transition message to one or more respective autonomous vehicles 110 initiating a start trigger associated with formation state 214. The next state transition state of boarding state 210 also includes an instance in which infrastructure system 108 switches the state to be handled for one or more respective autonomous vehicles 110 to formation state 214 when the handshake protocol associated with boarding state 210 has been completed. The error state transition step of boarding state 210 includes an instance in which infrastructure system 108 sends a trigger transition message to one or more respective autonomous vehicles 110 initiating a start trigger back to pre-boarding state 208. The error state transition state of boarding state 210 also includes an instance in which infrastructure system 108 switches the state to be handled for one or more respective autonomous vehicles 110 to pre-boarding state 208 when there is an error associated with the flash code handover sequence and / or when completion of the task completion sequence is interrupted. The error state transition step of the boarding state 210 also includes an instance in which the infrastructure system 108 switches the state for handling one or more corresponding autonomous vehicles 110 to the pre-boarding state 208 when one or more autonomous vehicles 110 notify the infrastructure system 108 (e.g., via the VMM) about the following: whether there is any human intervention on the autonomous vehicle 110; whether there are any people and / or animals in the autonomous vehicle 110; whether the doors and / or windows are not locked; or a combination thereof.

[0055] In some examples, the next state transition step of the formation state 214 includes an instance in which the infrastructure system 108 sends a trigger transition message to the one or more respective vehicles 110 initiating a start trigger associated with the get-off state 212. The next state transition step of the formation state 214 also includes an instance in which the infrastructure system 108 switches the state for handling the one or more respective autonomous vehicles 110 to the get-off state 212. For example, in an instance of human intervention during the formation state 214, IMMs and VMMs are exchanged between the infrastructure system 108 and the one or more autonomous vehicles 110 to switch the state for handling the one or more respective autonomous vehicles 110 to the get-off state 212. The next state transition step of the formation state 214 also includes an instance in which the infrastructure system 108 sends a trigger transition message to the one or more respective vehicles 110 initiating a start trigger associated with the get-off state 218. The next state transition step of the formation state 214 also includes an instance in which the infrastructure system 108 switches the state for handling the one or more respective autonomous vehicles 110 to the get-off state 218. For example, when the state being handled for one or more respective autonomous vehicles 110 switches to the off-vehicle state 218, the one or more autonomous vehicles 110 arrive at their destination and the routing sequence is completed and / or the one or more autonomous vehicles 110 are stationary. In some examples, in instances when the one or more autonomous vehicles 110 are in a stationary mode, IMMs and VMMs are exchanged between infrastructure system 108 and the one or more autonomous vehicles 110 (e.g., a keep-alive mode).

[0056] In some examples, the error state transition step of the formation state 214 includes an instance in which the infrastructure system 108 sends a trigger transition message to the one or more respective autonomous vehicles 110 to initiate a start trigger to return to the boarding state 210. The error state transition step of the formation state 214 also includes an instance in which the infrastructure system 108 switches the state to be handled for the one or more respective autonomous vehicles 110 to the boarding state 210 when an error in the handshake protocol associated with the formation state 214 is detected and / or the destination and route sequence is not determined. The error state transition step of the formation state 214 also includes an instance in which the infrastructure system 108 switches the state to be handled for the one or more respective autonomous vehicles 110 to the boarding state 210 when the wireless communication between the infrastructure system 108 and the one or more autonomous vehicles 110 is determined to be in an unrecoverable state. In some examples, the error state transition step of the formation state 214 may involve the infrastructure system 108 sending a trigger transition message to the one or more respective autonomous vehicles 110 to transition to another state of the plurality of states when the temporary error and recovery state is triggered. For example, in an instance where infrastructure system 108 identifies a change in the state of autonomous vehicle 110 from the VMM, infrastructure system 108 triggers an error state and instructs one or more autonomous vehicles 110 to switch to another state of the plurality of states before infrastructure system 108 controlled the one or more autonomous vehicles 110.

[0057] In some examples, the next state transition step of the Get Off state 212 includes an instance in which the infrastructure system 108 sends a trigger transition message to the one or more respective vehicles 110 that initiates a start trigger associated with the Get On state 210. The next state transition step of the Forming state 214 also includes an instance in which the infrastructure system 108 switches the state being handled for the one or more respective autonomous vehicles 110 to the Get On state 210 when a wake-up sequence is completed with the one or more autonomous vehicles 110 (e.g., ignition start) and when any human intervention has been completed. For example, in both instances when the infrastructure system 108 switches the state being handled for the one or more respective autonomous vehicles 110 to the Get On state 210, the one or more autonomous vehicles 110 send (e.g., via the VMM) one or more requests for the infrastructure system 108 to rejoin the last known state (e.g., Get Off state 212). As another example, when one or more autonomous vehicles 110 rejoin the formation and have returned to the geo-fenced ODD zone, one or more autonomous vehicles 110 send a VMM with a last known state (eg, disembark state 212 ) to infrastructure system 108 .

[0058] In some examples, the error state transition steps of the boarding state 210 include instances in which the infrastructure system 108 sends a trigger transition message to one or more respective autonomous vehicles 110 that initiates a start trigger to the boarding state 210. The error state transition steps of the disembarking state 212 also include instances in which the infrastructure system 108 switches the state to be handled for one or more respective vehicles 110 to the boarding state 210 when a momentary loss of wireless communication connection occurs and / or a flag regarding a system error occurs.

[0059] With respect to the Off-Vehicle State 218 , both the Next State Transition Step and the Error State Transition Step include both the infrastructure system 108 and one or more autonomous vehicles 110 switching to the Not Initiated State 218 upon receiving the Off-Vehicle State 218 and / or upon completion of certain loop process activities.

[0060] Figure 3 3 is a flow chart illustrating an example method 300 for transitioning between characteristic states of an autonomous vehicle (e.g., autonomous vehicle 110) according to various implementations. At operation 302, a state transition from a first state in a plurality of states to a second state in a plurality of states is initiated at one or more vehicles. For example, the state transition from the first state to the second state is initiated based on a message uniquely associated with the second state. As another example, the message is received from an infrastructure system (e.g., infrastructure system 108). As another example, the plurality of states may include an uninitiated state (e.g., uninitiated state 218), a pre-boarding state (e.g., pre-boarding state 208), a boarding state (e.g., boarding state 210), a marshaling state (e.g., marshaling state 214), a disembarking state (e.g., disembarking state 212), and / or a disembarking state (e.g., disembarking state 218). As yet another example, each of the plurality of states is associated with a different message.

[0061] At operation 304, one or more vehicles process a handshake protocol associated with the second state. For example, the handshake protocol associated with the second state is processed in response to the initiation of a state transition from the first state to the second state. As another example, the external handshake protocol can vary based on each of the multiple states, so that one or more characteristics of the external handshake protocol can vary based on each of the multiple states. As another example, one or more characteristics of the external handshake protocol can include an inter-transmission time associated with a message, a tolerance threshold of a connection strength associated with one or more vehicles, or a combination thereof. As an additional example, processing the external handshake protocol can include initiating one or more actions based on a message exchange between an infrastructure system and one or more vehicles. For example, one or more actions can include verification of a wireless connection associated with one or more vehicles, authentication of a message, verification of whether one or more vehicles are within an operational design domain, or a combination thereof. It should be understood that the external handshake protocol can cover each of the multiple states, so that each of the multiple states can have one or more different characteristics (e.g., one or more characteristics) and / or initiate a different set of one or more actions (e.g., one or more actions).

[0062] At operation 306, one or more vehicles are restored to the first state in response to the unsuccessful completion of the handshake protocol associated with the second state. For example, restoring to the first state corresponds to: unless the handshake protocol associated with the second state is successfully completed, one or more vehicles do not transition from the first state to the second state. In other words, one or more vehicles are kept in (e.g., restored to) the first state in response to the unsuccessful completion of the handshake protocol associated with the second state. In an example embodiment, one or more vehicles are advanced to the second state (e.g., from the first state) based on the successful completion of the handshake protocol associated with the second state. In another example embodiment, a state transition from a second state in a plurality of states to a third state in a plurality of states is initiated at one or more vehicles. For example, a state transition from the second state to the third state is initiated based on the progress to the second state and / or a message uniquely associated with the third state. As another example, one or more vehicles process a handshake protocol associated with the third state. As another example, a handshake protocol associated with the third state is processed in response to the initiation of a state transition from the second state to the third state. As an additional example, the one or more vehicles are advanced to the third state in response to the successful completion of the handshake protocol associated with the third state. In additional example embodiments, an alert is transmitted to the infrastructure system (e.g., by one or more vehicles). For example, the alert can be associated with an unsuccessful completion of a handshake protocol associated with the second state. As another example, the transmission of the alert is based on the one or more vehicles returning to the first state.

[0063] Figure 4 4 is a flow chart illustrating an example method 400 for transitioning between characteristic states of an autonomous vehicle (e.g., autonomous vehicle 110) according to various implementations. At operation 402, a state transition from a first state in a plurality of states to a second state in a plurality of states is initiated at one or more vehicles. For example, the state transition from the first state to the second state is initiated based on a message uniquely associated with the second state. As another example, the message is received from an infrastructure system (e.g., infrastructure system 108). As another example, the plurality of states may include an uninitiated state (e.g., uninitiated state 218), a pre-boarding state (e.g., pre-boarding state 208), a boarding state (e.g., boarding state 210), a marshaling state (e.g., marshaling state 214), a disembarkation state (e.g., disembarkation state 212), and / or a disembarkation state (e.g., disembarkation state 218). As yet another example, each of the plurality of states is associated with a different message.

[0064] At operation 404, one or more vehicles process a handshake protocol associated with the second state. For example, the handshake protocol associated with the second state is processed in response to the initiation of a state transition from the first state to the second state. As another example, the external handshake protocol can vary based on each of the multiple states, so that one or more characteristics of the external handshake protocol can vary based on each of the multiple states. As another example, one or more characteristics of the external handshake protocol can include an inter-transmission time associated with a message, a tolerance threshold of a connection strength associated with one or more vehicles, or a combination thereof. As an additional example, processing the external handshake protocol can include initiating one or more actions based on a message exchange between an infrastructure system and one or more vehicles. For example, one or more actions can include verification of a wireless connection associated with one or more vehicles, authentication of a message, verification of whether one or more vehicles are within an operational design domain, or a combination thereof. It should be understood that the external handshake protocol can cover each of the multiple states, so that each of the multiple states can have one or more different characteristics (e.g., one or more characteristics) and / or initiate a different set of one or more actions (e.g., one or more actions).

[0065] At operation 406, one or more vehicles are caused to progress to the second state in response to the successful completion of the handshake protocol associated with the second state. In one example embodiment, one or more vehicles are caused to recover to the second state (e.g., from the first state) based on the unsuccessful completion of the handshake protocol associated with the second state. For example, recovering to the first state corresponds to: unless the handshake protocol associated with the second state is successfully completed, one or more vehicles do not transition from the first state to the second state. In other words, one or more vehicles are caused to remain in (e.g., recover to) the first state in response to the unsuccessful completion of the handshake protocol associated with the second state. In another example embodiment, a state transition from a second state in a plurality of states to a third state in a plurality of states is initiated at one or more vehicles. For example, a state transition from the second state to the third state is initiated based on the progress to the second state and / or a message uniquely associated with the third state. As another example, one or more vehicles process a handshake protocol associated with the third state. As another example, a handshake protocol associated with the third state is processed in response to the initiation of a state transition from the second state to the third state. As an additional example, the one or more vehicles are caused to progress to the third state in response to the successful completion of the handshake protocol associated with the third state.

[0066] Thus, one or more examples of the present disclosure provide a means for managing vehicle motion or movement control within a formation environment that may occur between multiple formation states to configure and verify that the relationship between an autonomous vehicle (e.g., autonomous vehicle 110) and an infrastructure system (e.g., infrastructure system 108) is operating correctly, is fully authenticated, and is ready to proceed to the next formation state or toward successful termination of a communication session.

[0067] Unless otherwise expressly indicated herein, all numerical values ​​indicating mechanical / thermal properties, composition percentages, dimensions and / or tolerances or other characteristics when describing the scope of the present disclosure should be understood to be modified by the word "about" or "approximately". Such modifications are desirable for a variety of reasons, including: industrial practice; material, manufacturing and assembly tolerances; and testing capabilities.

[0068] As used herein, the phrase at least one of A, B, and C should be construed to mean a logical (A or B or C), using a non-exclusive logical "or", and should not be construed to mean "at least one of A, at least one of B, and at least one of C."

[0069] In this application, the terms "controller" and / or "module" may refer to, be part of, or include: an application-specific integrated circuit (ASIC); a digital, analog, or mixed analog / digital discrete circuit; a digital, analog, or mixed analog / digital integrated circuit; a combinatorial logic circuit; a field programmable gate array (FPGA); a processor circuit (shared, dedicated, or group) that executes code; a memory circuit (shared, dedicated, or group) that stores code executed by the processor circuit; other suitable hardware components that provide the described functionality; or a combination of some or all of the above, such as in a system on a chip.

[0070] The term memory is a subset of the term computer-readable medium. The term computer-readable medium as used herein does not encompass transient electrical or electromagnetic signals propagated through a medium (such as on a carrier wave); thus, the term computer-readable medium may be considered to be tangible and non-transitory. Non-limiting examples of non-transitory tangible computer-readable media are non-volatile memory circuits (such as flash memory circuits, erasable programmable read-only memory circuits, or mask read-only circuits), volatile memory circuits (such as static random access memory circuits or dynamic random access memory circuits), magnetic storage media (such as analog or digital tape or hard drives), and optical storage media (such as CDs, DVDs, or Blu-ray discs).

[0071] The apparatus and methods described in this application may be implemented partially or completely by a special-purpose computer, which is created by configuring a general-purpose computer to perform one or more specific functions embodied in a computer program. The functional blocks, flow chart components, and other elements described above are used as software specifications, which can be translated into a computer program by routine work of a technician or programmer.

[0072] The description of the present disclosure is merely exemplary in nature, and thus, variations that do not depart from the essence of the present disclosure are intended to be within the scope of the present disclosure. Such variations should not be regarded as a departure from the spirit and scope of the present disclosure.

[0073] According to the present invention, a method includes: initiating a state transition from a first state among a plurality of states to a second state at one or more vehicles based on a message uniquely associated with the second state among a plurality of states, wherein the message is received from an infrastructure system; processing a handshake protocol associated with the second state by the one or more vehicles in response to the initiation of the state transition from the first state to the second state, and causing the one or more vehicles to progress to the second state in response to the successful completion of the handshake protocol associated with the second state.

[0074] In one aspect of the present invention, the plurality of states include an uninitiated state, a pre-boarding state, a boarding state, a marshaling state, an alighting state, and an exiting state.

[0075] In one aspect of the present invention, an external handshake protocol changes based on each of the multiple states, so that one or more characteristics of the external handshake protocol change based on each of the multiple states, and wherein processing the external handshake protocol includes: initiating one or more actions based on a message exchange between the infrastructure system and the one or more vehicles, wherein the one or more actions include verification of a wireless connection associated with the one or more vehicles, authentication of the message, verification of whether the one or more vehicles are within an operational design domain, or a combination thereof, and wherein the one or more characteristics of the external handshake protocol include an inter-transmission time associated with the message, a tolerance threshold for a connection strength associated with the one or more vehicles, or a combination thereof.

[0076] In one aspect of the invention, each state of the plurality of states is associated with a different message.

[0077] In one aspect of the invention, the method includes causing the one or more vehicles to revert from the first state to the second state based on unsuccessful completion of the handshake protocol associated with the second state.

[0078] In one aspect of the present invention, the method includes: initiating a state transition from the second state among the multiple states to the third state at the one or more vehicles based on the progress to the second state and a message uniquely associated with the third state among the multiple states; processing a handshake protocol associated with the third state by the one or more vehicles in response to the initiation of the state transition from the second state to the third state, and causing the one or more vehicles to progress to the third state in response to the successful completion of the handshake protocol associated with the third state.

Claims

1. A method comprising: initiating, at one or more vehicles, a state transition from a first state in a plurality of states to a second state in a plurality of states based on a message uniquely associated with the second state, wherein the message is received from an infrastructure system; processing, by the one or more vehicles in response to the initiation of the state transition from the first state to the second state, a handshake protocol associated with the second state; as well as The one or more vehicles are caused to return to the first state in response to unsuccessful completion of the handshake protocol associated with the second state.

2. The method of claim 1, wherein the plurality of states include an uninitiated state, a pre-boarding state, a boarding state, a marshaling state, an alighting state, and an exiting state.

3. The method of claim 1, wherein the external handshake protocol varies based on each of the plurality of states such that one or more characteristics of the external handshake protocol vary based on each of the plurality of states.

4. The method of claim 3, wherein processing the external handshake protocol comprises: One or more actions are initiated based on a message exchange between the infrastructure system and the one or more vehicles, wherein the one or more actions include verification of a wireless connection associated with the one or more vehicles, authentication of the message, verification of whether the one or more vehicles are within an operational design domain, or a combination thereof, and wherein the one or more characteristics of the external handshake protocol include an inter-transmission time associated with the message, a tolerance threshold for a connection strength associated with the one or more vehicles, or a combination thereof. The method of claim 1 , wherein each state of the plurality of states is associated with a different message.

6. The method of claim 1, further comprising: The one or more vehicles are caused to progress from the first state to the second state based on successful completion of the handshake protocol associated with the second state.

7. The method of claim 6, further comprising: initiating, at the one or more vehicles, a state transition from the second state to the third state of the plurality of states based on the progress to the second state and a message uniquely associated with the third state of the plurality of states; processing, by the one or more vehicles in response to the initiation of the state transition from the second state to the third state, a handshake protocol associated with the third state; as well as The one or more vehicles are caused to progress to the third state in response to successful completion of the handshake protocol associated with the third state.

8. The method of claim 1, further comprising: An alert associated with the unsuccessful completion of the handshake protocol associated with the second state is transmitted to the infrastructure system, wherein the transmitting of the alert is based on the one or more vehicles reverting to the first state.

9. A system comprising: A vehicle system associated with one or more vehicles, the vehicle system being configured to: initiating a state transition from a first state in the plurality of states to the second state based on a message uniquely associated with the second state in the plurality of states, processing a handshake protocol associated with the second state in response to the initiation of the state transition from the first state to the second state, and causing the one or more vehicles to return to the first state in response to unsuccessful completion of the handshake protocol associated with the second state; and An infrastructure system, the infrastructure system being configured to: The message is sent to the vehicle system.

10. The system of claim 9, wherein the plurality of states include an uninitiated state, a pre-boarding state, a boarding state, a marshaling state, an alighting state, and an exiting state.

11. The system of claim 9, wherein an external handshake protocol varies based on each of the plurality of states such that one or more characteristics of the external handshake protocol vary based on each of the plurality of states, and wherein the vehicle system associated with processing the external handshake protocol is further configured to: One or more actions are initiated based on a message exchange between the infrastructure system and the one or more vehicles, wherein the one or more actions include verification of a wireless connection associated with the one or more vehicles, authentication of the message, verification of whether the one or more vehicles are within an operational design domain, or a combination thereof, and wherein the one or more characteristics of the external handshake protocol include an inter-transmission time associated with the message, a tolerance threshold for a connection strength associated with the one or more vehicles, or a combination thereof.

12. The system of claim 9, wherein each state of the plurality of states is associated with a different message.

13. The system of claim 9, wherein the vehicle system is further configured to: The one or more vehicles are caused to progress from the first state to the second state based on successful completion of the handshake protocol associated with the second state.

14. The system of claim 13, wherein the vehicle system is further configured to: initiating, at the one or more vehicles, a state transition from the second state to the third state of the plurality of states based on the progress to the second state and a message uniquely associated with the third state of the plurality of states; processing, by the one or more vehicles in response to the initiation of the state transition from the second state to the third state, a handshake protocol associated with the third state; as well as The one or more vehicles are caused to progress to the third state in response to successful completion of the handshake protocol associated with the third state.

15. The system of claim 9, wherein the vehicle system is further configured to: An alert associated with the unsuccessful completion of the handshake protocol associated with the second state is transmitted to the infrastructure system, wherein the transmitting of the alert is based on the one or more vehicles reverting to the first state.

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