System and method for integrating a vehicle into a consist environment

Abstract

The present disclosure provides "systems and methods for integrating a vehicle into a marshalling environment." One method includes determining whether a vehicle is within a distance-related threshold from an entry location of a marshalling environment; performing one or more capability tests and one or more functional control tests on the vehicle; determining whether the vehicle meets the one or more capability requirements and one or more functional control requirements; providing the vehicle with access to the marshalling environment; and bringing the vehicle online to autonomously marshal through the marshalling environment.

Description

Technical Field

[0001] This disclosure relates to integrating one or more vehicles into a marshalling environment, and more specifically, to re-integrating one or more vehicles into a marshalling environment. Background Technology

[0002] The statements in this section are provided only as background information in connection with this disclosure and may not constitute prior art.

[0003] Vehicle-related venues are typically restricted areas requiring security measures to protect them from unauthorized and / or incompatible vehicles. However, security measures implemented to protect venues often present problems, such as incorrect vehicle authorization and lengthy authorization processes.

[0004] This disclosure addresses these and other issues related to vehicle integration and / or re-integration into the vehicle yard. Summary of the Invention

[0005] This section provides a general overview of this disclosure and is not a full disclosure of its entire scope or all its features.

[0006] This disclosure provides a method comprising: determining, by an infrastructure system, whether a vehicle is located within a distance-related threshold from an entrance location of a formation environment; in response to determining that the vehicle is located within the distance-related threshold from the entrance location of the formation environment, performing one or more capability tests and one or more functional control tests on the vehicle; determining, based on the execution of the one or more capability tests and the one or more functional control tests, whether the vehicle meets one or more capability requirements and one or more functional control requirements; in response to determining that the vehicle meets the one or more capability requirements and the one or more functional control requirements, providing the vehicle with access to the formation environment; and in response to the vehicle Entering the grouping environment to bring the vehicles online for autonomous grouping through the grouping environment; wherein performing one or more capability tests includes: synchronizing the infrastructure system with one or more vehicle controls of the vehicle; and monitoring one or more sensor outputs of the vehicle based on the synchronization of the infrastructure system with the one or more vehicle controls, wherein the one or more sensor outputs correspond to outputs originating from one or more vehicle systems of the vehicle, and wherein the one or more vehicle systems include at least one of an imaging system, a powertrain system, a braking system, a steering system, and a climate system; wherein performing one or more capability tests includes: based on the synchronization of the infrastructure system with the one or more vehicle controls The system simultaneously evaluates one or more capabilities of the vehicle's sensor suite, wherein the one or more capabilities include at least one of field of view, sensor fidelity, powertrain accuracy control, and powertrain control precision; and determines whether the one or more capabilities are operable based on the evaluation of the sensor suite; wherein determining whether the one or more capabilities are operable is also based on historical test data and one or more operating vehicle requirements associated with the formation environment; wherein performing the one or more functional control tests includes: transmitting one or more commands to the vehicle; and causing the vehicle to perform one or more actions based on the one or more commands, wherein the one or more... One or more actions include at least one of steering-related actions, light-related actions, vehicle movement-related actions, and braking-related actions; wherein performing the one or more function control tests includes: determining whether the execution of the one or more actions corresponds to the one or more instructions; and generating a vehicle identifier associated with the vehicle in response to determining that the execution of the one or more actions corresponds to the one or more instructions; the method further includes: determining whether a human operator is present in the vehicle; and authorizing the human operator to enter the grouping environment based on one or more access requests of the grouping environment, further based on one or more credentials of the human operator and in response to determining that the human operator is present in the vehicle;And display one or more entry prompts to the human operator; and wherein providing entry to the grouping environment is based on the human operator's successful confirmation of the one or more entry prompts.

[0007] This disclosure provides a system comprising: an infrastructure system configured to: determine whether a vehicle is located within a distance-related threshold from an entrance position of a formation environment; in response to determining that the vehicle is located within the distance-related threshold from the entrance position of the formation environment, perform one or more capability tests and one or more functional control tests on the vehicle; determine whether the vehicle meets one or more capability requirements and one or more functional control requirements based on the execution of the one or more capability tests and the one or more functional control tests, respectively; and in response to determining that the vehicle meets the one or more capability requirements and the one or more functional control requirements, The system provides the vehicle with access to the formation environment; and in response to the vehicle's access to the formation environment, it brings the vehicle online to autonomously form a formation through the formation environment; and the vehicle is configured to: receive one or more instructions at the vehicle; and perform one or more actions based on the one or more instructions, wherein the one or more actions include at least one of steering-related actions, light-related actions, vehicle movement-related actions, and braking-related actions; wherein the infrastructure system configured to perform the one or more capability tests is further configured to: synchronize the infrastructure system with one or more vehicle controls of the vehicle; and synchronize the infrastructure system with the one or more vehicle controls. The system monitors one or more sensor outputs of the vehicle in synchronization with the vehicle controls, wherein the one or more sensor outputs correspond to outputs from one or more vehicle systems originating from the vehicle, and wherein the one or more vehicle systems include at least one of an imaging system, a powertrain system, a braking system, a steering system, and a climate system; wherein the infrastructure system configured to perform the one or more capability tests is further configured to: evaluate one or more capabilities of the vehicle's sensor suite based on the synchronization of the infrastructure system with the one or more vehicle controls, wherein the one or more capabilities include at least one of field of view, sensor fidelity, powertrain accuracy control, and powertrain control precision; and determine whether the one or more capabilities are operable based on the evaluation of the one or more capabilities of the sensor suite, historical test data, and one or more operational vehicle requests associated with the grouping environment; wherein the infrastructure system configured to perform the one or more function control tests is further configured to: determine whether the execution of the one or more actions corresponds to the one or more instructions; and generate a vehicle identifier associated with the vehicle in response to determining that the execution of the one or more actions corresponds to the one or more instructions; wherein the infrastructure system is further configured to: determine whether a human operator is present in the vehicle.Based on one or more access requests to the grouping environment, and further based on one or more credentials of the human operator and in response to determining that the human operator is present in the vehicle, the human operator is authorized to enter the grouping environment; and one or more entry prompts are displayed to the human operator; wherein the provision of entry to the grouping environment is based on the human operator's successful confirmation of the one or more entry prompts.

[0008] This disclosure provides a non-transitory computer-readable medium storing one or more processor-executable instructions, which, when executed by at least one processor, cause the at least one processor to: determine, by an infrastructure system, whether a vehicle is within a distance-related threshold from an entrance location of a grouping environment; in response to determining that the vehicle is within the distance-related threshold from the entrance location of the grouping environment, perform one or more capability tests and one or more functional control tests on the vehicle; determine, based on the execution of the one or more capability tests and the one or more functional control tests, whether the vehicle meets one or more capability requirements and one or more functional control requirements; and in response to determining that the vehicle meets the one or more capability tests and functional control tests, perform one or more capability tests and functional control tests. The capability requirements and one or more functional control requirements provide the vehicle with access to the formation environment; and in response to the vehicle's access to the formation environment, bring the vehicle online to autonomously form a formation through the formation environment; wherein at least one processor caused to perform the one or more capability tests is further caused to: synchronize the infrastructure system with one or more vehicle controls of the vehicle; and monitor one or more sensor outputs of the vehicle based on the synchronization of the infrastructure system with the one or more vehicle controls, wherein the one or more sensor outputs correspond to outputs originating from one or more vehicle systems of the vehicle, and wherein the one or more vehicle systems include an imaging system, a powertrain system, etc. At least one of the following: a braking system, a steering system, and a climate system; wherein at least one processor causing the execution of the one or more capability tests is further caused to: evaluate one or more capabilities of the vehicle's sensor suite based on the synchronization of the infrastructure system with the one or more vehicle controls, wherein the one or more capabilities include at least one of field of view, sensor fidelity, powertrain accuracy control, and powertrain control precision; and determine whether the one or more capabilities are operable based on the evaluation of the one or more capabilities of the sensor suite, historical test data, and one or more operational vehicle requests associated with the grouping environment; wherein the one or more function controls are caused to be executed. The at least one processor being tested is further caused to: transmit one or more instructions to the vehicle; and cause the vehicle to perform one or more actions based on the one or more instructions, wherein the one or more actions include at least one of steering-related actions, light-related actions, and braking-related actions; wherein the at least one processor being caused to perform the one or more function control tests is further caused to: determine whether the execution of the one or more actions corresponds to the one or more instructions; and generate a vehicle identifier associated with the vehicle in response to determining that the execution of the one or more actions corresponds to the one or more instructions; and wherein the at least one processor is further caused to: determine whether a human operator is present in the vehicle;Based on one or more access requests to the grouping environment, and further based on one or more credentials of the human operator and in response to determining that the human operator is present in the vehicle, the human operator is authorized to enter the grouping environment; and one or more entry prompts are displayed to the human operator, wherein the provision of entry to the grouping environment is based on the human operator's successful confirmation of the one or more entry prompts.

[0009] Further applicability will become apparent from the description provided herein. It should be understood that the descriptions and specific examples are intended for illustrative purposes only and are not intended to limit the scope of this disclosure. Attached Figure Description

[0010] To better understand this disclosure, various forms of the disclosure will now be described by way of example with reference to the accompanying drawings, in which: Figure 1 A system for automated vehicle grouping according to one or more embodiments of the present disclosure is shown; Figure 2 One or more embodiments of the present disclosure are shown. Figure 1 The system shown is used to group example vehicles; Figure 3 Implementations of a system for integrating / reintegrating vehicles into a marshalling environment according to one or more embodiments of the present disclosure are shown; Figure 4 This is a flowchart illustrating an example method for integrating / reintegrating vehicles into a marshalling environment according to one or more embodiments of this disclosure; Figure 5 This is a flowchart illustrating an example method for integrating / reintegrating vehicles into a marshalling environment according to one or more embodiments of this disclosure; and Figure 6 This is a block diagram illustrating an example computer system according to one or more embodiments of the present disclosure.

[0011] The accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of this disclosure in any way. Detailed Implementation

[0012] The following description is merely exemplary in nature and is not intended to limit this disclosure, its application, or its uses. It should be understood that throughout the drawings, corresponding reference numerals indicate the same or corresponding parts and features.

[0013] The examples described herein provide systems and methods for enhancing the integration / reintegration of vehicles into a marshalling environment. In one or more examples, the integration / reintegration process provides a means for improving the accuracy of vehicle authorization and reducing the time spent authorizing vehicles before granting or denying them access to the marshalling environment.

[0014] Figure 1 A schematic block diagram of an Automated Vehicle Grouping (AVM) system 100 is shown. In one or more examples, the AVM system 100 groups one or more vehicles (e.g., vehicle 102) that are traveling at a low speed. However, it should be understood that the AVM system 100 can group one or more vehicles that are traveling at any speed. It should also be understood that the AVM system 100 can group semi-autonomous vehicles and / or fully autonomous vehicles.

[0015] AVM system 100 typically includes vehicle 102, vehicle manufacturing cloud system 104, vehicle delivery manager cloud system 106, vehicle customer web portal account cloud system 108, and infrastructure system 110. Vehicle manufacturing cloud system 104 serves as a central cloud system for managing and / or facilitating any manufacturing processes associated with vehicle 102. Vehicle manufacturing cloud system 104 is configured to communicate wirelessly with vehicle delivery manager cloud system 106 and / or infrastructure system 110. Vehicle manufacturing cloud system 104 is also configured to communicate wirelessly with vehicle 102.

[0016] The vehicle manufacturing cloud system 104 may include an infrastructure-side AVM algorithm 112. However, it should be understood that the infrastructure system 110 may also include an infrastructure-side AVM algorithm 112, such as... Figure 3 As shown. The infrastructure-side AVM algorithm 112 processes state information associated with at least one vehicle 102 among one or more vehicles. It should be understood that, in one or more embodiments, the infrastructure-side AVM algorithm 112 processes state information associated with each of the one or more vehicles (e.g., vehicle 102). The vehicle manufacturing cloud system 104 is configured to cause the infrastructure system 110 to monitor the progress of the vehicles (e.g., vehicle 102) as they move through a marshalling environment. For example, the marshalling environment may represent a factory marshalling scenario, an automated charging scenario, a depot marshalling scenario, a parking scenario, etc. As an example, a factory marshalling scenario may include vehicles that have just been manufactured being sensed via top-down visual sensing (e.g., via a set of infrastructure sensors 302, such as...). Figure 3(As shown) An example of a vehicle moving through a production line at a vehicle assembly plant for off-line testing. As another example, an automated charging scenario could include instances where vehicles are correctly assigned to automated charging modes located outdoors or indoors. As yet another example, a depot marshalling scenario could include instances where a fleet of commercial vehicles moves through warehouses and depots for automated loading and / or handling of goods. As an additional example, a parking scenario could include instances where vehicles move through underground or covered parking environments with potentially inconsistent communication networks (such as Global Navigation Satellite Systems).

[0017] The vehicle manufacturing cloud system 104 is also configured to cause the infrastructure system 110 to communicate with one or more vehicles. For example, the vehicle manufacturing cloud system 104 utilizes the infrastructure-side AVM algorithm 112 to send instructions to the infrastructure system 110 and / or process information received from the infrastructure system 110. The vehicle manufacturing cloud system 104 is also configured to cause the vehicle delivery manager cloud system 106 to facilitate the delivery of one or more vehicles (e.g., vehicle 102) to various locations. For example, the vehicle manufacturing cloud system 104 utilizes the infrastructure-side AVM algorithm 112 to send instructions to the vehicle delivery manager cloud system 106 and / or process information received from the vehicle delivery manager cloud system 106.

[0018] The vehicle manufacturing cloud system 104 is also configured to communicate directly with one or more vehicles to cause the one or more vehicles to start, stop, or pause their progress through the formation environment. The vehicle manufacturing cloud system 104 is also configured to control the formation speed of one or more vehicles as they travel through (e.g., traverse) the formation environment. For example, the vehicle manufacturing cloud system 104 utilizes the infrastructure-side AVM algorithm 112 to send instructions to vehicle 102 and / or process information received from vehicle 102.

[0019] Infrastructure system 110 includes sensor components 114, wireless communication components 116, a multi-access edge computing (MEC) system 118, and one or more traffic lights 120. It should be understood that the MEC system 118 is configured to support communication between the wireless communication components 116 and the vehicle 102. However, it should also be understood that the MEC system 118 is also configured to support communication between the wireless communication components 116 and any of the vehicle manufacturing cloud system 104, the vehicle delivery manager cloud system 106, and / or the vehicle customer web portal account cloud system 108. For example, the wireless communication components 116 may utilize GPS, Wi-Fi, satellite, 3G / 4G / 5G, and / or Bluetooth. ® To communicate with one or more vehicles.

[0020] The wireless communication component 116 also communicates with the sensor component 114, which is configured to communicate with and / or manage the set of infrastructure sensors 302, as described herein. In one or more examples, the sensor component 114 is also configured to perform one or more positioning functions associated with grouping one or more vehicles, such as, but not limited to, sensing, path planning, detection, control, and / or receiving and analyzing responses from each of the one or more vehicles.

[0021] The wireless communication component 116 also communicates with the traffic light 120. For example, when one or more vehicles are grouped through a grouping environment, the wireless communication component 116 can cause the traffic light 120 to guide the traffic of one or more vehicles. It should be understood that the infrastructure system 110 can forward instructions received from the vehicle manufacturing cloud system 104 to the vehicle 102. However, it should also be understood that the infrastructure system 110 can send instructions directly to the vehicle 102, for example, by utilizing the MEC system 118.

[0022] Vehicle 102 includes a vehicle-side AVM algorithm 122, a wireless transmission module 124, a vehicle central gateway module 126, a vehicle infotainment system 128, one or more vehicle sensors 130, a vehicle battery 132, a vehicle GNSS 134, a vehicle navigation map system 136, and a controller area network (CAN) vehicle bus 138. The wireless transmission module 124 may be a transmission control unit (TCU) and / or may be supported by a telematics-enabled subsystem. The wireless transmission module 124 includes one or more sensors configured to collect data and transmit signals to other components of vehicle 102. One or more sensors of the wireless transmission module 124 may include, but are not limited to, a vehicle speed sensor (not shown) configured to determine the current speed of the vehicle 102; a wheel speed sensor (not shown) configured to determine whether the vehicle 102 is traveling uphill or downhill; a throttle position sensor (not shown) configured to determine whether a downshift or upshift of one or more gears associated with the vehicle 102 is required in the current state of the vehicle 102; and / or a turbo speed sensor (not shown) configured to transmit data associated with the rotational speed of the torque converter of the vehicle 102.

[0023] The wireless transmission module 124 transmits information collected by one or more sensors to the vehicle-side AVM algorithm 122. In one embodiment, the vehicle-side AVM algorithm 122 may be a component within the wireless transmission module 124. For example, vehicle 102 utilizes the vehicle-side AVM algorithm 122 to process information collected by one or more sensors and transmit the information to infrastructure system 110. As another example, vehicle 102 utilizes the vehicle-side AVM algorithm 122 to process information collected by one or more sensors and transmit the information directly to vehicle manufacturing cloud system 104. The vehicle-side AVM algorithm 122 is configured to transmit information and / or instructions received from infrastructure system 110 and / or vehicle manufacturing cloud system 104 to the wireless transmission module 124.

[0024] The vehicle central gateway module 126 operates as an interface between various vehicle domain bus systems, such as engine compartment bus (not shown), interior bus (not shown), optical bus for multimedia (not shown), diagnostic bus for maintenance (not shown), or vehicle CAN bus 138. The vehicle central gateway module 126 is configured to distribute data transmitted to it from each of the various domain bus systems to other components of the vehicle 102. The vehicle central gateway module 126 is also configured to distribute information received from the vehicle-side AVM algorithm 122 to the various domain bus systems. The vehicle central gateway module 126 is also configured to send information received from the various domain bus systems to the vehicle-side AVM algorithm 122. For example, the vehicle 102 uses the vehicle-side AVM algorithm 122 to process information received from the vehicle central gateway module 126 and sends the information to the infrastructure system 110. As another example, the vehicle 102 uses the vehicle-side AVM algorithm 122 to process information received from the vehicle central gateway module 126 and sends the information directly to the vehicle manufacturing cloud system 104. The vehicle-side AVM algorithm 122 is configured to transmit information and / or instructions received from the infrastructure system 110 and / or the vehicle manufacturing cloud system 104 to the vehicle central gateway module 126.

[0025] The vehicle infotainment system 128 delivers a combination of information and entertainment content and / or services to a user 140 of vehicle 102. It should be understood that in some examples, the vehicle infotainment system 128 may only deliver entertainment content to the user 140 of vehicle 102. It should also be understood that in other examples, the vehicle infotainment system 128 may deliver information services to anyone associated with vehicle 102. As an example, the vehicle infotainment system 128 includes a built-in vehicle computer that combines one or more functions, such as a digital radio, a built-in camera, and / or a television. The vehicle infotainment system 128 transmits information associated with the built-in vehicle computer or processor to a vehicle-side AVM algorithm 122. For example, vehicle 102 utilizes the vehicle-side AVM algorithm 122 to process information received from the vehicle infotainment system 128 and transmits said information to infrastructure system 110. As another example, vehicle 102 utilizes the vehicle-side AVM algorithm 122 to process information received from the vehicle infotainment system 128 and transmits said information directly to vehicle manufacturing cloud system 104. The vehicle-side AVM algorithm 122 is configured to transmit information and / or instructions received from the infrastructure system 110 and / or the vehicle manufacturing cloud system 104 to the vehicle infotainment system 128.

[0026] One or more vehicle sensors 130 may be one or more of, for example, cameras, lidar, radar, and / or ultrasonic devices. For example, an ultrasonic device serving as one or more vehicle sensors 130 emits high-frequency sound waves that strike a wall or another vehicle and are then reflected back to vehicle 102. Based on the amount of time it takes for the sound waves to return to vehicle 102, vehicle 102 can determine the distance between the one or more vehicle sensors 130 and the wall or another vehicle. As another example, a camera device serving as one or more vehicle sensors 130 provides a visual indication of the space around vehicle 102. As an additional example, a radar device serving as one or more vehicle sensors 130 emits electromagnetic wave signals that strike a wall or another vehicle and are then reflected back to vehicle 102. Based on the amount of time it takes for the electromagnetic waves to return to vehicle 102, vehicle 102 can determine the distance, speed, and angle of vehicle 102 relative to the wall or another vehicle.

[0027] One or more vehicle sensors 130 transmit information associated with the location and / or distance of vehicle 102 relative to a wall or another vehicle to vehicle-side AVM algorithm 122. For example, vehicle 102 utilizes vehicle-side AVM algorithm 122 to process information received from one or more vehicle sensors 130 and transmit said information to infrastructure system 110. As another example, vehicle 102 utilizes vehicle-side AVM algorithm 122 to process information received from one or more vehicle sensors 130 and transmit said information directly to vehicle manufacturing cloud system 104. Vehicle-side AVM algorithm 122 is configured to transmit information and / or instructions received from infrastructure system 110 and / or vehicle manufacturing cloud system 104 to one or more vehicle sensors 130.

[0028] Vehicle battery 132 is controlled by a battery management system (not shown) that provides instructions to vehicle battery 132. For example, the battery management system provides instructions to vehicle battery 132 based on the temperature of vehicle battery 132. However, it should be understood that the battery management system may provide instructions to vehicle battery 132 based on any metric associated with vehicle battery 132, such as the state of power of vehicle 102, the period during which vehicle 102 is in an off state, or a combination thereof. The battery management system ensures that the current pattern of vehicle battery 132 is acceptable. For example, an acceptable current pattern prevents overvoltage, overcharge, and / or overheating of vehicle battery 132. As another example, the temperature of vehicle battery 132 indicates to the battery management system whether any of the acceptable current patterns is within an acceptable temperature range. The battery management system associated with vehicle battery 132 transmits information related to the temperature of vehicle battery 132 to vehicle-side AVM algorithm 122. For example, vehicle 102 uses vehicle-side AVM algorithm 122 to process the received information about vehicle battery 132 and transmit the information to infrastructure system 110. As another example, vehicle 102 utilizes vehicle-side AVM algorithm 122 to process information about vehicle battery 132 and transmits the information directly to vehicle manufacturing cloud system 104. Vehicle-side AVM algorithm 122 is configured to transmit information and / or instructions received from infrastructure system 110 and / or vehicle manufacturing cloud system 104 to vehicle battery 132.

[0029] Vehicle GNSS 134 is configured to communicate with satellites, enabling vehicle 102 to determine its exact location. Vehicle navigation map system 136 can display the exact location of vehicle 102 to user 140 via a display screen (not shown). Vehicle GNSS 134 transmits geographic information associated with vehicle 102 to vehicle-side AVM algorithm 122. For example, vehicle 102 uses vehicle-side AVM algorithm 122 to process information received from vehicle GNSS 134 and transmit the information to infrastructure system 110. As another example, vehicle 102 uses vehicle-side AVM algorithm 122 to process information from vehicle GNSS 134 and transmit the information directly to vehicle manufacturing cloud system 104. Vehicle-side AVM algorithm 122 is configured to transmit information and / or instructions received from infrastructure system 110 and / or vehicle manufacturing cloud system 104 to vehicle GNSS 134. As another example, vehicle 102 utilizes vehicle-side AVM algorithm 122 to process information associated with vehicle navigation map system 136 and transmits said information to infrastructure system 110. As yet another example, vehicle 102 utilizes vehicle-side AVM algorithm 122 to process information from vehicle navigation map system 136 and transmits said information directly to vehicle manufacturing cloud system 104. Vehicle-side AVM algorithm 122 is configured to transmit information and / or instructions received from infrastructure system 110 and / or vehicle manufacturing cloud system 104 to vehicle navigation map system 136.

[0030] Vehicle 102 is configured to transmit any information associated with any component included within vehicle 102 to one or more additional vehicles 142. Vehicle 102 is also configured to transmit (e.g., forward) any instructions received from infrastructure system 110 and / or vehicle manufacturing cloud system 104 to any of the one or more additional vehicles 142. For example, communication between vehicle 102 and one or more additional vehicles 142 may assist infrastructure system 110 and / or vehicle manufacturing cloud system 104 in grouping one or more additional vehicles 142. It should be understood that each of the one or more additional vehicles 142 may include any of the components described as included within vehicle 102, such as, but not limited to, vehicle-side AVM algorithm 122, wireless transmission module 124, vehicle central gateway module 126, vehicle infotainment system 128, one or more vehicle sensors 130, vehicle battery 132, vehicle GNSS 134, vehicle navigation map system 136, and / or CAN vehicle bus 138. It should also be understood that any of the one or more additional vehicles 142 is configured to transmit information associated with any component included within vehicle 102. It should also be understood that the one or more additional vehicles 142 may also be configured to establish direct wireless communication lines (e.g., via communication links) with infrastructure system 110 and / or vehicle manufacturing cloud system 104, thereby enabling direct exchange of information between the one or more additional vehicles 142 and infrastructure system 110 and / or vehicle manufacturing cloud system 104.

[0031] The vehicle delivery manager cloud system 106 wirelessly communicates (e.g., receives and / or sends instructions and / or information) with one or more of the following: rental agency cloud system 144, valet parking agency cloud system 146, insurance agency cloud system 148, and / or dealer system 150. The vehicle delivery manager cloud system 106 is configured to facilitate the delivery of one or more vehicles to any of the following: a rental agency (not shown) associated with rental agency cloud system 144, a valet parking agency (not shown) associated with valet parking agency cloud system 146, an insurance agency (not shown) associated with insurance agency cloud system 148, and / or dealer system 150. The vehicle delivery manager cloud system 106 also wirelessly communicates with vehicle customer web portal account cloud system 108. It should be understood that other cloud systems may be included in one or more examples.

[0032] The vehicle delivery manager cloud system 106 communicates wirelessly with a user device 152, such as, but not limited to, a mobile device, a display panel, and / or a computer. The vehicle 102 is also configured to communicate directly with the user device 152 wirelessly. For example, a user 140 engages with the user device 152 via an application that organizes any information and / or instructions received from the vehicle customer web portal account cloud system 108 and / or the vehicle 102. As another example, the user 140 may send one or more instructions to the vehicle customer web portal account cloud system 108, such as selecting which vehicle the user 140 wants to receive from any of the following: a rental agency associated with the rental agency cloud system 144, a valet parking agency associated with the valet parking agency cloud system 146, an insurance agency associated with the insurance agency cloud system 148, and / or a dealership system 150.

[0033] refer to Figure 2 Vehicle 102 can be powered in various forms and in various ways, such as by using an electric motor and / or an internal combustion engine. It should be understood that vehicle 102 can be any type of vehicle powered by an electric motor and / or an internal combustion engine, such as a car, truck, robot, aircraft, and / or boat. Vehicle 102 typically includes a vehicle controller 200, one or more actuators 202, multiple onboard sensors 204, a human-machine interface (HMI) 206, and a vehicle system 208. Vehicle 102 also has a reference point 210, i.e., a designated point within the space defined by the vehicle body, which identifies the position of vehicle 102. For example, reference point 210 is the geometric center point where the respective longitudinal and lateral center axes of vehicle 102 intersect. As another example, reference point 210 is the point where vehicle 102 is located when navigating toward a waypoint.

[0034] The multiple onboard sensors 204 include various means for providing data to the vehicle controller 200. For example, the multiple onboard sensors 204 may include object detection sensors (e.g., lidar sensors) disposed on or in the vehicle 102, which provide the relative position, size, and / or shape of one or more objects (such as attached vehicles, bicycles, robots, drones, etc.) traveling beside, in front of, and / or behind the vehicle 102. As another example, one or more of the multiple onboard sensors 204 may be radar sensors attached to one or more bumpers of the vehicle 102, which can provide the position of an object relative to the position of each of the vehicle 102. As yet another example, one or more of the multiple onboard sensors 204 may be configured to monitor one or more functionalities associated with one or more internal components of the vehicle 102.

[0035] Multiple onboard sensors 204 may include camera sensors that provide images from the area surrounding vehicle 102, such as providing front, side, and rear views. As another example, vehicle controller 200 may be programmed to receive sensor data from the camera sensors and perform image processing techniques to detect roads, infrastructure elements, etc. Vehicle controller 200 may be programmed to determine the current vehicle position based on location coordinates (e.g., GPS coordinates) received from vehicle 102 indicating the position of vehicle 102 from a GPS sensor (not shown).

[0036] In some examples, vehicle controller 200 is configured or programmed to control one or more of the following: vehicle braking, propulsion (e.g., controlling the acceleration of vehicle 102 by controlling one or more of an internal combustion engine, electric motor, hybrid engine, etc.), steering, climate control, interior and / or exterior lights, etc. In other examples, vehicle controller 200 is also configured or programmed to determine whether and when vehicle controller 200 (rather than a human operator) controls such operations associated with vehicle 102. It should be understood that any operation associated with vehicle 102 can be facilitated via automated, semi-automated, or manual modes. For example, an automated mode can facilitate complete control of any operation by vehicle controller 200 without the assistance of a human operator. As another example, a semi-automated mode can facilitate at least partial control of any operation by a human operator in combination with vehicle controller 200. As yet another example, a manual mode can facilitate complete control of operation by a human operator without the assistance of vehicle controller 200.

[0037] Vehicle controller 200 includes one or more processors (not shown), or can be communicatively coupled to said one or more processors (e.g., via a vehicle communication bus). For example, the one or more processors may be controllers included in vehicle 102, used to monitor and / or control various vehicle controllers, such as powertrain controllers, brake controllers, steering controllers, etc. Vehicle controller 200 is typically arranged for various communications over a vehicle communication network (not shown) (which may include buses in vehicle 102, such as CAN bus, etc.) and / or other wired and / or wireless mechanisms.

[0038] Vehicle controller 200 transmits messages to and / or receives messages from various devices (e.g., one or more actuators 202, HMI 206, etc.) in vehicle 102 via a vehicle network. Alternatively or additionally, where vehicle controller 200 includes multiple devices, a vehicle communication network is used for communication between the devices represented herein as vehicle controller 200. Furthermore, as discussed below, various other controllers and / or sensors provide data to vehicle controller 200 via the vehicle communication network.

[0039] Additionally, the vehicle controller 200 is also configured via the vehicle-side AVM algorithm 122 to communicate with the infrastructure communication network through the vehicle, such as with the infrastructure controller (e.g., ...). Figure 3 The vehicle controller 200 communicates with the infrastructure controller 304 shown. The vehicle controller 200 is also configured via the vehicle-side AVM algorithm 122 to communicate with other traffic objects (e.g., vehicles, infrastructure, etc.) through a wireless vehicle communication interface, such as via a vehicle-to-vehicle communication network. The vehicle communication network represents one or more mechanisms by which the vehicle controller 200 of vehicle 102 communicates with other traffic objects. As an example, the vehicle communication network can be one or more wireless communication mechanisms, including any desired combination of wireless (e.g., cellular, wireless, satellite, microwave, and / or radio frequency) communication mechanisms, and any desired network topology (or multiple topologies utilizing multiple communication mechanisms). Examples of vehicle communication networks include cellular, Bluetooth®, IEEE 802.11, Dedicated Short Range Communication (DSRC), and / or Wide Area Network (WAN) (including the Internet) providing data communication services.

[0040] One or more actuators 202 are implemented via circuits, chips, or other electronic and / or mechanical components that can actuate various vehicle subsystems according to appropriate control signals. One or more actuators 202 can be used to control the braking, acceleration, and / or steering of the vehicle 102. The vehicle controller 200 can be programmed to activate one or more actuators 202 (including propulsion, steering, and / or braking actuators) based on planned acceleration or deceleration of the vehicle 102.

[0041] HMI 206 is configured to receive information from a human operator during operation of vehicle 102. Additionally, HMI 206 is configured to present information to a human operator, such as an occupant of vehicle 102. In some variations, vehicle controller 200 is programmed to receive destination data (e.g., location coordinates) from HMI 206.

[0042] Vehicle system 208 is configured to control each of the subsystems within vehicle 102 and facilitate requests across each of the aforementioned components (e.g., vehicle controller 200, one or more actuators 202, multiple on-board sensors 204, and / or HMI 206). Therefore, at least multiple on-board sensors 204 can be used to autonomously guide vehicle 102 to waypoints. Route selection can be performed using vehicle position, distance traveled, queuing for vehicle grouping, etc.

[0043] In one or more embodiments, Figure 3A system 300 is shown configured to provide means for bringing vehicle 102 (e.g., and / or one or more additional vehicles 142) online. More specifically, bringing vehicle 102 (e.g., and / or one or more additional vehicles 142) online within the boundaries provided by system 300 is a process ultimately performed in response to providing vehicle 102 (e.g., and / or one or more additional vehicles 142) into marshalling environment 308, as described herein.

[0044] In one or more embodiments, infrastructure 110 includes a sensor component 114 that communicates with a set of infrastructure sensors 302. The set of infrastructure sensors 302 is configured to monitor the movement of vehicle 102 (e.g., and / or one or more auxiliary vehicles 142) as it moves through marshalling environment 308. Infrastructure system 110 also includes a wireless communication component 116 that provides means for communication between infrastructure system 110 and at least one communication node 310. However, it should be understood that wireless communication component 116 also provides means for direct communication between infrastructure system 110 and vehicle 102 (e.g., and / or one or more auxiliary vehicles 142).

[0045] In one or more examples, the movement of vehicle 102 (e.g., and / or one or more auxiliary vehicles 142) through the marshalling environment 308 is monitored based on the field of view of the set of infrastructure sensors 302. As another example, the movement of vehicle 102 (e.g., and / or one or more auxiliary vehicles 142) through the marshalling environment 308 is also monitored based on one or more infrastructure marshalling messages (e.g., IMM) and one or more vehicle marshalling messages (e.g., VMM) exchanged between vehicle 102 (e.g., and / or one or more auxiliary vehicles 142) and infrastructure system 110.

[0046] Additionally, infrastructure system 110 includes infrastructure controller 304. Infrastructure controller 304 is configured to centrally control the operation of vehicle 102 (e.g., and / or one or more auxiliary vehicles 142). For example, the operation of vehicle 102 (e.g., and / or one or more auxiliary vehicles 142) includes propulsion, braking, and / or steering. It should be understood that infrastructure controller 304 may be located within infrastructure system 110 or externally relative to infrastructure system 110. Infrastructure controller 304 includes infrastructure-side AVM algorithm 112, which is configured to facilitate communication between infrastructure controller 304 and vehicle controller 200 associated with vehicle 102 (e.g., and / or one or more auxiliary vehicles 142).

[0047] In one or more embodiments, the infrastructure-side AVM algorithm 112 is configured to detect the presence of a vehicle 102 (e.g., and / or one or more additional vehicles 142) associated with one or more entrance locations 310a to 310f via at least one or more sensors 302. In one or more examples, the infrastructure-side AVM algorithm 112 is also configured to determine whether the vehicle 102 (e.g., and / or one or more additional vehicles 142) is within a distance-related threshold from any of the one or more entrance locations 310a to 310f. As another example, the distance-related threshold may be any predefined distance from any of the one or more entrance locations 310a to 310f, corresponding to the field of view of one or more sensors 302 and / or the communication range with the infrastructure system 110 (e.g., or at least one communication node 310).

[0048] In response to determining that vehicle 102 (e.g., and / or one or more additional vehicles) is within a distance-related threshold from any of one or more entrance locations 310a to 310f, infrastructure-side AVM algorithm 112 is configured to communicate with the vehicle (e.g., and / or one or more additional vehicles 142) to facilitate the execution of one or more tests, relying on said tests to ensure that vehicle 102 (e.g., and / or one or more additional vehicles 142) is functionally controllable by infrastructure system 110, and to meet each of one or more requirements necessary for vehicle 102 (e.g., and / or one or more additional vehicles 142) to operate within marshalling environment 308.

[0049] In one or more examples, one or more requirements may include, but are not limited to, one or more capability requirements of vehicle 102 (e.g., and / or one or more auxiliary vehicles 142) and one or more functional control requirements. As another example, one or more tests may include, but are not limited to, one or more capability tests of vehicle 102 (e.g., and / or one or more auxiliary vehicles 142) and one or more functional control tests.

[0050] In one or more examples, one or more controls of the infrastructure-side AVM algorithm 112 are configured to synchronize with one or more controls of vehicle 102 (e.g., and / or one or more attached vehicles 142) to determine whether vehicle 102 (e.g., and / or one or more attached vehicles 142) can be controlled by the infrastructure-side AVM algorithm 112. As another example, vehicle-side AVM algorithm 122 is configured to allow the infrastructure-side AVM algorithm 112 to access one or more controls of vehicle 102 (e.g., and / or one or more attached vehicles 142).

[0051] For example, the infrastructure-side AVM algorithm 112 is configured to synchronize with at least one or more sensors of the wireless transmission module 124 of vehicle 102 (e.g., and / or one or more auxiliary vehicles 142) to monitor real-time sensor outputs associated with at least one of the imaging system, powertrain system, braking system, steering system, and climate system. However, it should be understood that the infrastructure-side AVM algorithm 112 is configured to monitor real-time sensor outputs associated with any system that is linked to at least one or more sensors of the wireless transmission module 124 of vehicle 102 (e.g., and / or one or more auxiliary vehicles 142).

[0052] As another example, the infrastructure-side AVM algorithm 112 is also configured to synchronize with at least one or more vehicle sensors 130 of vehicle 102 (e.g., and / or one or more auxiliary vehicles 142) to evaluate one or more capabilities of each of the one or more vehicle sensors 130. As another example, the one or more capabilities may include at least one of field of view, sensor fidelity, powertrain accuracy control, and powertrain control precision. As yet another example, the evaluation of one or more capabilities of each of the one or more vehicle sensors 130 is used as the basis for the infrastructure-side AVM algorithm 112 to determine whether one or more capabilities are operable, ensuring that the one or more vehicle sensors 130 will not cause any operational-related problems for any vehicle that has been given access to the marshalling environment 308. As yet another example, the infrastructure-side AVM algorithm 112 is also configured to access one or more technical specifications of each of the one or more sensors 130 to determine one or more characteristics of each of the one or more sensors 130, such as, but not limited to, sensor type, model, or any other sensor-related characteristics.

[0053] As another example, the infrastructure-side AVM algorithm 112 is also configured to perform one or more tests on vehicle 102 (e.g., and / or one or more auxiliary vehicles 142) to verify that the communication-related systems of vehicle 102 (e.g., and / or one or more auxiliary vehicles 142) are compatible with infrastructure system 110 and / or one or more vehicles that have been given access to the marshalling environment 308. As yet another example, where vehicle 102 (e.g., and / or one or more auxiliary vehicles 142) utilizes the same communication protocols and / or security measures as infrastructure system 110 and / or one or more vehicles that have been given access to the marshalling environment 308, the communication-related systems of vehicle 102 (e.g., and / or one or more auxiliary vehicles 142) are compatible with infrastructure system 110 and / or one or more vehicles that have been given access to the marshalling environment 308.

[0054] As another example, the infrastructure-side AVM algorithm 112 is also configured to perform one or more tests on vehicle 102 (e.g., and / or one or more attached vehicles 142) to verify that the communication-related systems of vehicle 102 (e.g., and / or one or more attached vehicles 142) are controllable. For example, the communication-related systems of vehicle 102 (e.g., and / or one or more attached vehicles 142) are controllable if they have one or more functions that allow vehicle 102 (e.g., and / or one or more attached vehicles 142) to be controlled by at least infrastructure system 110 and / or if these functions operate correctly (e.g., as expected - system operation, no errors).

[0055] As another example, the infrastructure-side AVM algorithm 112 is also configured to perform one or more tests on vehicle 102 (e.g., and / or one or more attached vehicles 142) to verify that the communication-related systems of vehicle 102 (e.g., and / or one or more attached vehicles 142) are operating correctly (e.g., as expected - the system is operating without errors).

[0056] In one or more embodiments, the infrastructure-side AVM algorithm 112 is configured to verify whether the communication-related systems are compatible, controllable, and / or functioning as expected with respect to the infrastructure system 110 and / or one or more vehicles that have been given access to the marshalling environment 308 by testing communications exchanged between vehicle 102 (e.g., and / or one or more additional vehicles 142) and the infrastructure system 110. The infrastructure-side AVM algorithm 112 is also configured to test communications exchanged between vehicle 102 (e.g., and / or one or more additional vehicles 142) and one or more vehicles that have been given access to the marshalling environment 308. In one or more examples, communications exchanged between at least vehicle 102 (e.g., and / or one or more additional vehicles 142) and the infrastructure system 110 may include online requests, entry requests, or any other type of request that can be transmitted from vehicle 102 (e.g., and / or one or more additional vehicles 142) and received at the infrastructure system 110.

[0057] As yet another example, the infrastructure-side AVM algorithm 112 is configured to make one or more determinations related to one or more operational capabilities of vehicle 102 (e.g., and / or one or more auxiliary vehicles 142) based on one or more operational vehicle requirements and / or one or more functional vehicle requirements associated with the grouping environment 308. It should be understood that the one or more operational vehicle requirements may include, but are not limited to, one or more predefined rules for movement through the grouping environment 308. It should also be understood that the one or more functional vehicle requirements may include, but are not limited to, the functionality of one or more lighting mechanisms of vehicle 102 (e.g., and / or one or more auxiliary vehicles 142), the functionality of one or more steering capabilities of vehicle 102 (e.g., and / or one or more auxiliary vehicles 142), and / or one or more stop / start capabilities of vehicle 102 (e.g., and / or one or more auxiliary vehicles 142).

[0058] In one or more examples, the infrastructure-side AVM algorithm 112 is also configured to consider one or more acceptable capability ranges as an alternative or additional basis for determining whether vehicle 102 (e.g., and / or one or more additional vehicles 142) meets the one or more capability requirements. For example, one or more acceptable capability ranges may be established based on specifications of one or more minimum capabilities required for normal operation within the marshalling environment 308. As another example, the one or more minimum capabilities may be predefined or based on historical test data obtained from previous tests related to the capability requirements of previously communicated vehicles.

[0059] As another example, the infrastructure-side AVM algorithm 112 is also configured to verify one or more functional controls of vehicle 102 (e.g., and / or one or more auxiliary vehicles 142) to determine whether vehicle 102 (e.g., and / or one or more auxiliary vehicles 142) meets one or more functional control requirements via synchronization of one or more controls of vehicle 102 (e.g., and / or one or more auxiliary vehicles 142) with one or more controls of infrastructure-side AVM algorithm 112. Alternatively, in addition to synchronization of one or more controls of vehicle 102 (e.g., and / or one or more auxiliary vehicles 142) with one or more controls of infrastructure-side AVM algorithm 112, the infrastructure-side AVM algorithm 112 is configured to communicate with vehicle 102 (e.g., and / or one or more auxiliary vehicles 142) to verify one or more functional controls of vehicle 102 (e.g., and / or one or more auxiliary vehicles 142) to determine whether vehicle 102 (e.g., and / or one or more auxiliary vehicles 142) meets one or more functional control requirements.

[0060] For example, the infrastructure-side AVM algorithm 112 is configured to perform one or more tests on one or more systems of vehicle 102 (e.g., and / or one or more auxiliary vehicles 142), said one or more systems being related to the systems required for vehicle 102 (e.g., and / or one or more auxiliary vehicles 142) to function correctly (e.g., as intended) within the marshalling environment 308. In one or more examples, non-limiting examples of the systems required for vehicle 102 (e.g., and / or one or more auxiliary vehicles 142) to function correctly (e.g., as intended) within the marshalling environment 308 include steering systems, lighting systems, braking systems, or any other operating system of vehicle 102 (e.g., and / or one or more auxiliary vehicles 142).

[0061] As another example, the infrastructure-side AVM algorithm 112 is configured to confirm that a response received from vehicle 102 (e.g., and / or one or more auxiliary vehicles 142) is consistent with one or more infrastructure commands, while being within a distance-related threshold from any of the one or more entrance locations 310a to 310f. In one or more examples, the one or more responses received from vehicle 102 (e.g., and / or one or more auxiliary vehicles 142) may be based on the execution of one or more tests, such as turning lights on / off on vehicle 102 (e.g., and / or one or more auxiliary vehicles 142), vehicle 102 (e.g., and / or one or more auxiliary vehicles 142) moving a controlled distance (e.g., five feet round trip), or any other action associated with the one or more infrastructure commands.

[0062] In one or more embodiments, once the functional controls of a particular vehicle are verified, a vehicle identifier can be generated and then associated with the particular vehicle. For example, the association of the vehicle identifier with a particular vehicle provides means for accelerating the autonomous control qualification process (e.g., related to capability determination and / or functional control verification), wherein in a future instance where the particular vehicle attempts to gain access at one of one or more access locations 310a to 310f (e.g., the first access location 310a), the particular vehicle can preemptively pass one or more checks from the infrastructure-side AVM algorithm 112.

[0063] For example, in an instance where vehicle 102 (e.g., and / or one or more additional vehicles 142) is associated with a vehicle identifier with respect to a particular entry location (e.g., first entry location 310a) among one or more entry locations 310a to 310f, vehicle 102 (e.g., and / or one or more additional vehicles 142) may be directed toward the first entry location 310a instead of waiting to gain access to another entry location among one or more entry locations 310a to 310f, thereby expediting the entire re-entry process to marshalling environment 308.

[0064] As another example, the infrastructure-side AVM algorithm 112 can perform different levels of checks and / or verifications on vehicles 102 (e.g., and / or one or more additional vehicles 142) based on the frequency with which vehicles 102 (e.g., and / or one or more additional vehicles 142) enter / leave from the grouping environment 308.

[0065] In one or more embodiments, and in instances where the infrastructure-side AVM algorithm 112 determines that vehicle 102 (e.g., and / or one or more additional vehicles 142) meets one or more capability requirements and one or more functional control requirements, the infrastructure-side AVM algorithm 112 can provide access to the marshalling environment 308 through one or more entry locations 310a to 310f. Additionally, and in instances where vehicle 102 (e.g., and / or one or more additional vehicles 142) is autonomously controlled, the infrastructure-side AVM algorithm 112 is configured to bring vehicle 102 (e.g., and / or one or more additional vehicles 142) online, enabling the infrastructure system 110 to autonomously marshal vehicle 102 (e.g., and / or one or more additional vehicles 142) through the marshalling environment 308.

[0066] In one or more embodiments, and where a human operator is detected within vehicle 102 (e.g., and / or one or more auxiliary vehicles 142) via at least one or more sensors 302, the infrastructure-side AVM algorithm 112 is configured to initiate an authorization process to qualify the human operator for access to the marshalling environment 308. In one or more examples, the human operator's eligibility may be based on the human operator possessing one or more credentials and successful facial recognition of the human operator by at least one or more sensors 302. As another example, and in response to successful authorization of the human operator, the infrastructure-side AVM algorithm 112 is also configured to transmit one or more access prompts to the human operator (e.g., displayed on a screen of the vehicle infotainment system 128). As yet another example, access to the marshalling environment 308 may not be granted to the operator until the operator confirms one or more access prompts (e.g., via a touchscreen element of the vehicle infotainment system 128 or verbally provided to vehicle 102). As another example, and in an instance where a human operator is permitted access to the grouping environment 308, the infrastructure-side AVM algorithm 112 is configured to maintain the level of autonomous control over vehicle 102 (e.g., and / or one or more auxiliary vehicles 142), wherein the infrastructure-side AVM algorithm 112 is configured to limit the speed of vehicle 102 (e.g., and / or one or more auxiliary vehicles 142), the steering capability of vehicle 102 (e.g., and / or one or more auxiliary vehicles 142), or any other operation-related functions of vehicle 102 (e.g., and / or one or more auxiliary vehicles 142).

[0067] Figure 4 This is a flowchart illustrating example method 400, which provides means for bringing vehicles (e.g., vehicle 102 and / or one or more additional vehicles 142) online after providing vehicles into a grouping environment (e.g., grouping environment 308).

[0068] At operation 402, the infrastructure system (e.g., infrastructure system 110) is configured to determine whether a vehicle is located within a distance-related threshold from any entry location (e.g., one or more entry locations 310a to 310f) in the marshalling environment.

[0069] At operation 404, the infrastructure system is also configured to perform one or more capability tests and / or one or more functional control tests on the vehicle. In one or more examples, one or more capability tests and / or one or more functional control tests are performed in response to determining that the vehicle is within a distance-related threshold from the entrance position of the grouping environment.

[0070] In one or more examples, the execution of one or more capability tests includes synchronizing the infrastructure system with one or more vehicle controls of the vehicle and monitoring the outputs of one or more sensors of the vehicle. As another example, the one or more sensor outputs correspond to outputs from one or more vehicle systems originating from the vehicle. As yet another example, the one or more vehicle systems include at least one of an imaging system, a powertrain system, a braking system, a steering system, and a climate system.

[0071] In one or more examples, the execution of one or more capability tests also includes evaluating one or more capabilities of the vehicle's sensor suite (e.g., multiple onboard sensors 204) and determining whether said one or more capabilities are operable. As another example, the evaluation of one or more capabilities of the vehicle's sensor suite is based on the synchronization of the infrastructure system with one or more vehicle controls. As yet another example, one or more capabilities include at least one of field of view, sensor fidelity, powertrain accuracy control, and powertrain control precision. As yet another example, the determination of whether one or more capabilities are operable is based on the evaluation of one or more capabilities of the sensor suite. As an additional example, the determination of whether one or more capabilities are operable is also based on historical test data and one or more operating vehicle requirements associated with the formation environment.

[0072] In one or more examples, the execution of one or more functional control tests includes transmitting one or more commands to the vehicle and causing the vehicle to perform one or more actions. As another example, the vehicle is caused to perform one or more actions based on one or more commands. As yet another example, the one or more actions include at least one of steering-related actions, light-related actions, vehicle movement-related actions, and braking-related actions.

[0073] In one or more examples, the execution of one or more functional control tests further includes determining whether the execution of one or more actions corresponds to one or more instructions, and generating a vehicle identifier associated with the vehicle. As another example, a vehicle identifier associated with the vehicle is generated in response to determining that the execution of one or more actions corresponds to one or more instructions.

[0074] At operation 406, the infrastructure system is also configured to determine whether a vehicle meets one or more capability requirements and / or one or more functional control requirements. In one or more examples, the determination of whether the vehicle meets the one or more capability requirements and / or the one or more functional control requirements is based on the execution of the one or more capability tests and the one or more functional control tests, respectively.

[0075] At operation 408, the infrastructure system is also configured to (e.g., to vehicles) provide access to the marshalling environment. In one or more examples, access to the marshalling environment is provided to the vehicle in response to determining that the vehicle meets one or more capability requirements and one or more functional control requirements.

[0076] At operation 410, the infrastructure system is configured to bring the vehicles online to autonomously group through the grouping environment. In one or more examples, the vehicles are brought online in response to a vehicle entering the grouping environment.

[0077] In one or more embodiments, the infrastructure system is further configured to determine whether a human operator is present inside the vehicle. The infrastructure system is also configured to authorize the human operator to enter the grouping environment and to display one or more entry prompts to the human operator. In one or more examples, authorization of the human operator to enter the grouping environment is based on one or more access requirements of the grouping environment. As another example, authorization of the human operator to enter the grouping environment is also based on one or more credentials of the human operator. As yet another example, the human operator is authorized to enter the grouping environment in response to determining that the human operator is present inside the vehicle. As yet another example, and in instances where the presence of a human operator is determined to be inside the vehicle, access to the grouping environment is granted to the vehicle based on the human operator successfully confirming one or more entry prompts.

[0078] Figure 5 This is a flowchart illustrating example method 500, which provides another means for bringing vehicles (e.g., vehicle 102 and / or one or more additional vehicles 142) online after providing vehicles into a grouping environment (e.g., grouping environment 308).

[0079] At operation 502, the infrastructure system (e.g., infrastructure system 110) is configured to determine whether a vehicle is within a distance-related threshold from any entry location (e.g., one or more entry locations 310a to 310f) in the marshalling environment.

[0080] In an instance where it is determined that a vehicle is outside a distance-related threshold from any of one or more entrance locations, the infrastructure system is configured to repeat operation 502 to determine whether the vehicle is within a distance-related threshold from any of the one or more entrance locations.

[0081] However, in cases where it is determined that the vehicle is within a distance-related threshold from any of the one or more entrance locations, at operation 504, the infrastructure system is also configured to perform one or more capability tests and / or one or more functional control tests on the vehicle. In one or more examples, one or more capability tests and / or one or more functional control tests are performed in response to determining that the vehicle is within a distance-related threshold from an entrance location of the marshalling environment.

[0082] At operation 506, the infrastructure system is also configured to determine whether a vehicle meets one or more capability requirements and / or one or more functional control requirements. In one or more examples, the determination of whether the vehicle meets the one or more capability requirements and / or the one or more functional control requirements is based on the execution of the one or more capability tests and the one or more functional control tests, respectively.

[0083] In instances where a vehicle does not meet one or more capability requirements and / or one or more functional control requirements, the infrastructure system is configured to repeatedly operate 506 to determine whether the vehicle meets one or more capability requirements and / or one or more functional control requirements.

[0084] However, where a vehicle meets one or more capability requirements and / or one or more functional control requirements, at operation 508, the infrastructure system is also configured to (e.g., to the vehicle) provide access to the marshalling environment. In one or more examples, access to the marshalling environment is provided to the vehicle in response to determining that the vehicle meets one or more capability requirements and one or more functional control requirements.

[0085] In response to the vehicle entering the formation environment, at operation 510, the infrastructure system is configured to bring the vehicle online to autonomously form a formation through the formation environment.

[0086] Figure 6An operating environment, such as a computer system, is shown that facilitates the execution of one or more systems and methods described herein. More specifically, the systems and methods described herein can be implemented using computing device 602. For example, computing device 602 can be a personal computer, desktop computer, laptop computer, tablet computer, handheld computer, server, workstation, mainframe, wearable computer, supercomputer, or a combination thereof. However, it should be understood that the foregoing examples of computing device 602 are not exhaustive, and computing device 602 can be any type of processing or computing device. Computing device 602 typically includes a processor 604, a display adapter 606, one or more input / output ports 608, one or more input / output components 610, a network adapter 612, a power supply 614, and memory 616. However, it should be understood that computing device 602 may include any additional components and does not need to include the listed components (e.g., processor 604, display adapter 606, one or more input / output ports 608, one or more input / output components 610, network adapter 612, power supply 614, and memory 616).

[0087] Processor 604 is configured to provide instructions to computing device 602, enabling computing device 602 to process one or more tasks, including implementing software programs to perform one or more operations as described in more detail herein. It should also be understood that computing device 602 may include any number of processors 604. Display adapter 606 may be a graphics card or video board that provides computing device 602 with the ability to display content on display device 618. For example, display device 618 may be any screen, monitor, and / or light-emitting component associated with any of a personal computer, desktop computer, laptop computer, tablet computer, handheld computer, server, workstation, host computer, wearable computer, supercomputer, or a combination thereof. However, it should be understood that the foregoing examples of display device 618 are not exhaustive, and display device 618 may be any type of device capable of providing visual display.

[0088] Input / output port 608 provides multiple interfaces (e.g., jacks) for one or more cables to connect to computing device 602. It should be understood that any number of input / output ports 608 may be present on computing device 602. For example, input / output port 608 provides computing device 602 with means to receive signals and / or data from external devices connected to computing device 602 via one or more cables. As another example, input / output port 608 provides computing device 602 with means to transmit signals and / or data to external devices connected to computing device 602 via one or more cables. Input / output component 610 may include one or more components supporting input / output port 608, such as, but not limited to, switches, buttons, pressure pads, float switches, keypads, radio receivers, or combinations thereof.

[0089] Network adapter 612 can be any type of network interface controller configured to provide a device for communicating with another computing device (such as remote computing device 622) via network 620. For example, remote computing device 622 can be a user device such as a cellular phone, smartphone, tablet computer, laptop computer, or a combination thereof. Power supply 614 is configured to convert high-voltage alternating current (e.g., AC) into direct current (e.g., DC) to provide power to other components of computing device 602 (e.g., processor 604, display adapter 606, one or more input / output ports 608, one or more input / output components 610, network adapter 612, and memory 616).

[0090] Additionally, memory 616 may be a mass storage device and / or system memory, such as a hard disk drive, memory card, solid-state drive, random access memory (RAM), or a combination thereof. Memory 616 is configured to provide storage for instructions and data associated with the operation of computing device 602. Memory 616 may typically include operating system 624, online software 626, and online data 628. For example, operating system 624 is configured to manage and / or process any of the data and / or instructions associated with online software 626 and / or online data 628, such as bringing one or more vehicles online, as described in more detail herein.

[0091] Furthermore, a system bus 630 is also included within a computing device 602, which is configured to connect each of its various components (e.g., processor 604, display adapter 606, one or more input / output ports 608, one or more input / output components 610, network adapter 612, power supply 614, and memory 616). It should also be understood that the functions associated with each component of the computing device 602 and with each component of the computing device 602 can be implemented within a remote computing device 622. Although Figure 6 The operating environment shown herein depicts a specific configuration associated with at least computing device 602, network 620, and remote computing device 622; however, it should be understood that the operating environment can be configured in any manner.

[0092] Therefore, one or more examples of this disclosure provide means for integrating / reintegrating vehicles into a grouping environment based on an optimized approach for authorized vehicles (e.g., via infrastructure-side AVM algorithm 112) before providing vehicles into the grouping environment.

[0093] Unless otherwise expressly indicated herein, all numerical values ​​indicating mechanical / thermal properties, percentage of composition, dimensions and / or tolerances or other characteristics should be understood as being modified by the words “about” or “approximately” when describing the scope of this disclosure. Such modification is desired for various reasons, including: industrial practice; material, manufacturing and assembly tolerances; and testing capabilities.

[0094] As used herein, the phrases A, B, and C at least one should be interpreted as representing logic (A or B or C) using the non-exclusive logic "or", and should not be interpreted as representing "at least one of A, at least one of B, and at least one of C".

[0095] In this application, the terms “controller” and / or “module” may refer to, be part of, or include the following: application-specific integrated circuit (ASIC); digital, analog, or mixed analog / digital discrete circuit; digital, analog, or mixed analog / digital integrated circuit; composable logic circuit; field-programmable gate array (FPGA); processor circuitry (shared, dedicated, or grouped) that executes code; memory circuitry (shared, dedicated, or grouped) that stores code executed by the processor circuitry; other suitable hardware components that provide the described functionality; or combinations of some or all of the foregoing, such as in a system-on-a-chip.

[0096] The term memory is a subset of the term computer-readable medium. As used herein, the term computer-readable medium does not cover transient electrical or electromagnetic signals propagated through a medium (such as on a carrier wave); therefore, the term computer-readable medium can be considered tangible and non-transient. Non-limiting examples of non-transient tangible computer-readable media include 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 magnetic tape or digital magnetic tape or hard disk drives), and optical storage media (such as CDs, DVDs, or Blu-ray discs).

[0097] The apparatus and methods described in this application can be implemented, in part or in whole, by a dedicated computer created by configuring a general-purpose computer to perform one or more specific functions embodied in a computer program. Function blocks, flowchart components, and other elements described above serve as software specifications that can be translated into computer programs through the routine work of a technician or programmer.

[0098] The description in this disclosure is merely exemplary in nature, and therefore, variations without departing from the spirit and scope of this disclosure are intended to be made within its scope. Such variations should not be considered as departing from the spirit and scope of this disclosure.

[0099] According to the present invention, a non-transitory computer-readable medium storing one or more processor-executable instructions, which, when executed by at least one processor, cause the at least one processor to: determine, by an infrastructure system, whether a vehicle is within a distance-related threshold from an entrance location of a marshalling environment; in response to determining that the vehicle is within the distance-related threshold from the entrance location of the marshalling environment, perform one or more capability tests and one or more functional control tests on the vehicle; determine, based on the execution of the one or more capability tests and the one or more functional control tests, whether the vehicle meets one or more capability requirements and one or more functional control requirements; in response to determining that the vehicle meets the one or more capability requirements and the one or more functional control requirements, provide the vehicle with access to the marshalling environment; and in response to the vehicle entering the marshalling environment, bring the vehicle online to autonomously marshal through the marshalling environment.

[0100] According to an embodiment, at least one processor caused to perform the one or more capability tests is further caused to: synchronize the infrastructure system with one or more vehicle controls of the vehicle; and monitor one or more sensor outputs of the vehicle based on the synchronization of the infrastructure system with the one or more vehicle controls, wherein the one or more sensor outputs correspond to outputs originating from one or more vehicle systems of the vehicle, and wherein the one or more vehicle systems include at least one of an imaging system, a powertrain system, a braking system, a steering system, and a climate system.

[0101] According to an embodiment, at least one processor caused to perform the one or more capability tests is further caused to: evaluate one or more capabilities of the vehicle's sensor suite based on the synchronization of the infrastructure system with the one or more vehicle controls, wherein the one or more capabilities include at least one of field of view, sensor fidelity, powertrain accuracy control, and powertrain control precision; and determine whether the one or more capabilities are operable based on the evaluation of the one or more capabilities of the sensor suite, historical test data, and one or more operational vehicle requests associated with the grouping environment.

[0102] According to an embodiment, at least one processor that is caused to perform the one or more functional control tests is further caused to: transmit one or more instructions to the vehicle; and cause the vehicle to perform one or more actions based on the one or more instructions, wherein the one or more actions include at least one of steering-related actions, lighting-related actions, and braking-related actions.

[0103] According to one embodiment, at least one processor caused to perform the one or more functional control tests is further caused to: determine whether the execution of the one or more actions corresponds to the one or more instructions; and generate a vehicle identifier associated with the vehicle in response to determining that the execution of the one or more actions corresponds to the one or more instructions.

[0104] According to an embodiment, the at least one processor is further caused to: determine whether a human operator is present in the vehicle; authorize the human operator to enter the grouping environment based on one or more access requests of the grouping environment, and further based on one or more credentials of the human operator and in response to determining that the human operator is present in the vehicle; and display one or more entry prompts to the human operator, wherein the provision of entry to the grouping environment is based on the human operator's successful confirmation of the one or more entry prompts.

Claims

1. A method comprising: The infrastructure system determines whether a vehicle is within a distance threshold from the entrance of the formation environment; In response to determining that the vehicle is within a distance-related threshold from the entrance position of the formation environment, one or more capability tests and one or more functional control tests are performed on the vehicle. Whether the vehicle meets one or more capability requirements and one or more functional control requirements is determined based on the execution of the one or more capability tests and the one or more functional control tests, respectively. In response to determining that the vehicle meets one or more capability requirements and one or more functional control requirements, access to the formation environment is provided to the vehicle; as well as In response to the vehicle entering the formation environment, the vehicle is brought online to autonomously form a formation and pass through the formation environment.

2. The method of claim 1, wherein performing the one or more capability tests comprises: Synchronize the infrastructure system with one or more vehicle controls of the vehicle; as well as The system monitors the output of one or more sensors of the vehicle based on the synchronization between the infrastructure system and the one or more vehicle controls.

3. The method of claim 2, wherein the one or more sensor outputs correspond to outputs from one or more vehicle systems originating from the vehicle, and wherein the one or more vehicle systems include at least one of an imaging system, a powertrain system, a braking system, a steering system, and a climate system.

4. The method of claim 2, wherein performing the one or more capability tests comprises: The vehicle's sensor suite capabilities are evaluated based on the synchronization between the infrastructure system and the one or more vehicle controls, wherein the one or more capabilities include at least one of field of view, sensor fidelity, powertrain accuracy control, and powertrain control precision; and Whether one or more capabilities are operable is determined based on the evaluation of the sensor suite.

5. The method of claim 4, wherein determining whether the one or more capabilities are operable is also based on historical test data and one or more operational vehicle requirements associated with the formation environment.

6. The method of claim 1, wherein performing the one or more functional control tests comprises: Transmit one or more instructions to the vehicle; as well as The vehicle is caused to perform one or more actions based on the one or more instructions, wherein the one or more actions include at least one of steering-related actions, light-related actions, vehicle movement-related actions, and braking-related actions.

7. The method of claim 6, wherein performing the one or more functional control tests comprises: Determine whether the execution of the one or more actions corresponds to the one or more instructions; as well as In response to determining that the execution of the one or more actions corresponds to the one or more instructions, a vehicle identifier associated with the vehicle is generated.

8. The method of claim 1, further comprising: Determine whether a human operator is inside the vehicle; Based on one or more access requests from the grouping environment, and further based on one or more credentials of the human operator and in response to determining that the human operator is present in the vehicle, the human operator is authorized to enter the grouping environment; and Display one or more entry prompts to the human operator.

9. The method of claim 8, wherein providing access to the grouping environment is based on the human operator successfully confirming the one or more access prompts.

10. A system comprising: Infrastructure system, the infrastructure system being configured as follows: Determine whether the vehicle is within a distance threshold from the entrance of the formation environment. In response to determining that the vehicle is within a distance-related threshold from the entrance location of the formation environment, one or more capability tests and one or more functional control tests are performed on the vehicle. Whether the vehicle meets one or more capability requirements and one or more functional control requirements is determined based on the execution of the one or more capability tests and the one or more functional control tests, respectively. In response to determining that the vehicle meets one or more capability requirements and one or more functional control requirements, access to the formation environment is provided to the vehicle. In response to the vehicle entering the formation environment, the vehicle is brought online to autonomously form a group and pass through the formation environment; and The vehicle is configured as follows: Receive one or more instructions at the vehicle, and Perform one or more actions based on the one or more instructions, wherein the one or more actions include at least one of steering-related actions, light-related actions, vehicle movement-related actions, and braking-related actions.

11. The system of claim 10, wherein the infrastructure system configured to perform the one or more capability tests is further configured to: Synchronize the infrastructure system with one or more vehicle controls of the vehicle; and Based on the synchronization between the infrastructure system and the one or more vehicle controls, one or more sensor outputs of the vehicle are monitored, wherein the one or more sensor outputs correspond to outputs originating from one or more vehicle systems of the vehicle, and wherein the one or more vehicle systems include at least one of an imaging system, a powertrain system, a braking system, a steering system, and a climate system.

12. The system of claim 11, wherein the infrastructure system configured to perform the one or more capability tests is further configured to: The vehicle's sensor suite capabilities are evaluated based on the synchronization between the infrastructure system and the one or more vehicle controls, wherein the one or more capabilities include at least one of field of view, sensor fidelity, powertrain accuracy control, and powertrain control precision; and Whether one or more capabilities are operable is determined based on the evaluation of the sensor suite’s capabilities, historical test data, and one or more operational vehicle requests associated with the marshalling environment.

13. The system of claim 10, wherein the infrastructure system configured to perform the one or more functional control tests is further configured to: Determine whether the execution of the one or more actions corresponds to the one or more instructions; and In response to determining that the execution of the one or more actions corresponds to the one or more instructions, a vehicle identifier associated with the vehicle is generated.

14. The system of claim 10, wherein the infrastructure system is further configured to: Determine whether a human operator is inside the vehicle; Based on one or more access requests from the grouping environment, and further based on one or more credentials of the human operator and in response to determining that the human operator is present in the vehicle, the human operator is authorized to enter the grouping environment; and Display one or more entry prompts to the human operator.

15. The system of claim 14, wherein the provision of entry to the grouping environment is based on the human operator's successful confirmation of the one or more entry prompts.

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